Virtual reality surgical tools system

ABSTRACT

A method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application claims the benefit under 35 U.S.C.§ 119(e) to U.S.Provisional Patent Application No. 62/456,926, entitled Virtual RealitySurgical Tools System filed on Feb. 9, 2017, and U.S. Provisional PatentApplication No. 62/532,054, entitled Virtual Reality Surgical ToolsSystem filed on Jul. 13, 2017, which are hereby incorporated byreference in their entirety.

BACKGROUND Field of Invention

This application generally relates to minimally invasive surgery,minimally invasive surgical tools and virtual reality minimally invasivesurgical systems.

Description of Related Art

From its onset in the 1990's the minimally invasive surgical field hasdeveloped and grown expeditiously, with said developments and growthproducing improved results for patients. As a result of the growth anddevelopments in the field, more and more types of procedures are nowbeing conducted using minimally invasive surgery techniques and systems.One of the major differences between conventional “open” surgery andminimally invasive surgery is how the surgeon obtains access to thesurgical site. In a conventional “open” surgery, typically a ratherlarge incision is made from below the patient's breastbone to thepatient's navel or beyond. In comparison, during a minimally invasivesurgery, a series of small incisions are made, which allows a surgeon toinsert an endoscope or other type of camera through one of the smallincisions and insert different surgical tools and/or instruments throughthe other incisions. While minimally invasive surgery has providedpatients with improved outcomes, it has come at an expense to thesurgeon's ability to operate with precision and ease, as a surgeon isconstrained by its insertion point both in movement of their instrumentsand the number of instruments that can be inserted at a surgical site ata given time.

During both a conventional “open” surgery and minimally invasivesurgery, a surgeon utilizes numerous different tools, to performdifferent surgical functions. Such tools can include but are not limitedto, tools for needle driving, grasping, ablation, cautery, clipapplication, stabling, sharp dissection, irrigation, and suction. Asstated above, in typical minimally invasive surgeries, a surgeonutilizes multiple small incisions in a patient's body to insertdifferent surgical instruments and tools to perform different surgicalfunctions. While more appealing than conventional “open” surgeries, themultiple incisions necessary to perform a minimally invasive surgeryleave a lot to be desired, as multiple incisions leaves a patientvulnerable to multiple infections and hernias, as well as skin and softtissue trauma.

Surgeons have attempted to relieve some of these issues by utilizingsurgical robotic devices to physically perform the operation. However,many surgical robotic devices require multiple incision points to allowa surgeon access to multiple surgical tools. Furthermore, surgicalrobotic devices create an increased disconnect between the surgeon andthe surgical instruments of the robotic device. This disconnect has ledto injuries as a surgeon is not fully aware of the motion and/or forcebeing applied by the robotic device. As a result of being unaccustomedto the multiple degrees of freedom of many of existing robotic devices,surgeons must exhaustively train on robotic simulators before operatingon a patient to decrease the possibility of an inadvertent injury.

In an attempt to avoid the need for multiple incision points, somesurgeons have utilized single incision surgical robotic devices.However, existing single incision surgical robotic devices have manydrawbacks, resulting from the size of their actuation mechanisms, whichhave been incorporated into their in vivo robot. Currently some singleincision robotic devices incorporate servomotors, gearboxes, andencoders, among other actuation mechanisms within the in vivo robot. Theincorporation of the actuator mechanisms into an in vivo robot hasresulted in large robots with narrow capabilities. The implementation oflarge single-incision robotic devices have resulted in the need forlarge incisions to be made, which comes with an increase in patient'ssusceptibility for infection, pain, herniation, and general morbidity.In addition, the single incision devices have limited degrees offreedom, with some of these degrees of freedom being non-intuitive to ahuman. These non-intuitive degrees of freedom require a user interfacethat allows a surgeon to make non-intuitive learned movements which aresimilar to multi-incision devices.

Furthermore, existing single incision devices are constrained in thenumber of surgical tools and instruments that are readily accessible toa surgeon during an operation. Some single-incision devices haveattempted to alleviate this issue by allowing different tools andinstruments to be switched out with one another. However, in order toswitch between tools a surgeon must remove the entire device from thepatient's body and then manually replace it, which has significantdrawbacks. These drawbacks include increased patient susceptibility toinfection, herniation, pain and general morbidity due to increase in thenumber of times the device is removed and reinserted. Furthermore, thisexchange increases the time it takes to perform an operation anddisrupts a surgeon's workflow.

Alternative single incision devices have attempted to eliminate the needto remove the entire device in order to switch between tools by havingmultifunctional tools. However, in this implementation a surgeon islimited to the functions that said multifunctional tool is capable ofperforming. Due to this limitation, a surgeon still needs to remove thedevice from the patient's body and attach a different tool and/or insertan entirely different device to perform a different function that themultifunctional tool is unable to perform.

In other single-incision devices, a surgeon interchanges tools while thedevice remains located within the patient's body. However, with thesedevices the surgeon must completely remove the entire end effector,which encompasses a tool and typically the driving mechanism of thetool. While the surgeon is removing and substituting end effectors, theentire apparatus is rendered incapacitated, interrupting the operationand disrupting the surgeon's work flow. Moreover, different endeffectors can encompass different driving mechanisms which limits whattools can be attached to what manipulator and also what tools can beused at the same time, thus interrupting the operation and increasingoperating time.

As with conventional minimally invasive operations as well as withexisting robotic surgeries, a surgeon removes the instrument from thesurgical site and then inserts a new instrument. While removinginstruments and inserting new instruments is a viable option inconventional minimally invasive operations and existing roboticsurgeries, it is unpractical and not an intuitive method forinterchanging tools during virtual reality surgeries. In virtual realitysurgeries, the surgeon has the perception of being condensed inside apatient's body at a surgical site. A small robot placed within thepatient replicates the motion of the surgeon's arms and hands. Inconjunction with three-dimensional visualization provided by virtualreality goggles, the surgeon views the operation and interacts with therobotic arms as if the robotic arms have taken the form of the surgeon'sarms and hands. With this natural humanlike robot located within apatient it is not ideal for a surgeon to remove the robot to exchangebetween instruments. Removal and insertion of the robotic device wouldbe cumbersome, and would require a surgeon to disconnect and removehis/herself from the natural and immersive virtual reality userinterface. In order to allow a surgeon to remain immersed in the naturaland immersive virtual reality user interface, a different technique ofexchanging surgical instruments is necessary for virtual realitysurgery.

With human-like robotics systems, having a successful system resultsfrom maintaining a natural and intuitive human-machine interface (HMI).As such, it is advantageous in a virtual reality surgery for a surgeonto be able to interact with the requisite tools while maintaining thefunctionality of a human-like robot.

BRIEF SUMMARY OF INVENTION

The system allows a surgeon to exchange between different surgical toolsand apparatuses during a minimally invasive surgery procedure. In oneembodiment the technology includes a system comprising a graspercomprising, a grasper housing having a distal end and a proximal end,the grasper housing defining a docking opening at the distal end, thedocking opening having a shape, and a jaw at the distal end of thegrasper housing, the jaw including a first jaw portion and a second jawportion, the first and second jaw portions being movably opposed, atleast one of the first and second jaw portions comprises at least oneactuation mating surface, a tool comprising, a tool housing having adistal end and a proximal end and defining an inner surface, a dockingassembly defined by the tool housing at the proximal end of the toolhousing, the docking assembly comprising a first protrusion extendingproximally from the proximal end of the tool housing and having a firstprotrusion shape complementary to the shape of the docking opening, andan operative assembly at the distal end of the tool housing, theoperative assembly comprising, a fulcrum operably coupled to the toolhousing, a first lever operably connected to the fulcrum, an instrumentoperably coupled to the first lever, and an actuator operably coupled tothe tool housing and the first lever, and a robotic device operablycoupled to the proximal end of the grasper and configured to actuate thefirst and second jaw portions of the grasper between a first jawposition and a second jaw position. In an implementation of theembodiment, the first protrusion of the docking assembly of the tool isconfigured to cooperate with the docking opening of the grasper housingto constrain the tool in all axes relative to the grasper. In animplementation of the embodiment, the first lever comprises a proximalend configured to ride along the at least one actuation mating surfaceof one of the first or second jaw portions of the grasper. In animplementation of the embodiment, the actuator is configured to apply aforce upon the first lever to bias the first lever in a first direction.

In an implementation of the embodiment at least one of the first andsecond jaw portions of the grasper is configured to apply a force on thefirst lever to rotate the first lever about the fulcrum from a firstlever position to a second lever position. In an aspect of animplementation the actuator is configured to retain an energy from theforce applied by the at least one of the first and second jaw portions.In an aspect of an implementation, the actuator is configured to releasethe energy retained by said actuator as a force upon the at least onelever to rotate the at least one lever about the fulcrum from the secondlever position to the first lever position.

In an implementation of the embodiment, the first jaw portion is fixedrelative to the grasper housing and the second jaw portion is movablerelative to the first jaw portion. In an implementation of theembodiment, the first and second jaw portions are independently movable.

In an implementation of the embodiment, the tool housing comprises aplurality of tool housing segments, with said segments defining a toolhousing interior, and the plurality of tool housing segments are coupledby at least one support. In one aspect of an implementation comprising aplurality of tool housing segments, the actuator is operably coupled tothe interior of one of the plurality of tool housing segments.

In an implementation of the embodiment, at least one of the first andsecond jaw portions define a channel having a channel shape and thedocking assembly further comprises a second protrusion extending fromthe inner surface of the tool housing that has a second protrusion shapecomplementary to the channel shape. In an aspect of an implementation,the first protrusion of the docking assembly is configured to cooperatewith the docking opening of the grasper housing and the secondprotrusion of the docking assembly is configured to cooperate with thechannel of the at least one of the first and second jaw portions toconstrain the tool in all axes relative to the grasper.

In an implementation of the embodiment, the first jaw portion comprisesan electrically conductive contact portion at a distal end of the jawportion, and an electrical conductor coupled to the conductive contactportion and the first jaw portion is electrically insulated. In animplementation of the embodiment, the first and second jaw portions areelectrically conductive and the first jaw portion is coupled to a firstelectrical conduction and the second jaw portion is coupled to a secondelectrical conductor, and the embodiment further comprises a powersupply coupled to the first and second electrical conductors forsupplying electrical power to the first and second jaw portions, and thefirst and second jaw portions are electrically insulated.

In one implementation of the embodiment, the operative assembly of thetool further comprises a second lever operably coupled to the fulcrum, asecond instrument operably coupled to the second lever, and the firstand second levers each comprise a proximal end and the first and secondjaw portions of the grasper each comprise at least one actuation matingsurface. In an aspect of an implementation, the proximal end of thefirst lever is configured to ride along the at least one actuationmating surface of the first jaw portion and the proximal end of thesecond lever is configured to ride along the at least one actuationmating surface of the second jaw portion. In an aspect of animplementation, the first and second lever are configured to moveindependently of one another. In an aspect of an implementation, theoperative assembly of the tool further comprises a second actuatoroperably coupled to the tool housing and the second lever.

In one implementation of the embodiment, the instrument of the operativeassembly is one of surgical scissors, needle driver, forceps, grasper,retractor, surgical stapler, vessel sealer, surgical drill, cautery pen,cautery hook or caliper. In an implementation of the embodiment, theinstrument comprises a first component and a second component, the firstcomponent operably coupled to the first lever and the second componentoperably coupled to a second lever.

In an implementation of the embodiment, the first jaw portion furthercomprises a force-open channel having a force-open channel shape and thefirst lever of the tool further comprises a proximal end comprising aprojection having a projection shape complementary to the force-openchannel. In an aspect of an implementation, when a tool couples to thegrasper the projection of the first lever is configured to cooperatewith the force-open channel of the first jaw portion of the grasper toallow the projection to pass through the force-open channel and maintaina clearance over the first jaw portion. In an aspect of animplementation, the first jaw portion of the grasper is configured toapply a force upon the projection of the first lever as the first jawportion moves from the second jaw position to the first jaw position torotate the first lever about the fulcrum from a second lever position toa first lever position.

In an implementation of the embodiment the first jaw portion of thegrasper further comprises a first force-open channel having a firstforce-open channel shape and the first lever of the operative assemblyfurther comprises a proximal end with a first projection having a firstprojection shape complementary to the first force-open channel of thefirst jaw portion and the second jaw portion of the grasper furthercomprises a second force-open channel having a second force-open channelshape and the operative assembly of the tool further comprises a secondlever having a second instrument and a proximal end having a secondprojection having a second projection shape complementary to the secondforce-open channel of the second jaw portion.

In an implementation of the embodiment, the grasper housing furtherdefines a plurality of docking openings with each of the plurality ofdocking openings having a shape and the docking assembly of the toolfurther comprises a plurality of first protrusions extending proximallyform the proximal end of the tool housing and each of the firstprotrusions having a corresponding shape complementary to the shape ofone of the plurality of docking openings, and the first protrusions ofthe docking assembly of the tool are configured to cooperate with theplurality of docking openings of the grasper housing to constrain thetool in all axes relative to the grasper.

In an implementation of the embodiment the first jaw portion defines aplurality of channels with each of the plurality of channels having achannel shape and the second jaw portion defines a plurality of channelswith each of the plurality of channels having a channel shape, and thedocking assembly further comprises a plurality of second protrusionsextending form the inner surface of the tool housing, each of theplurality of second protrusions having a corresponding second protrusionshape complementary to the channel shape of the plurality of channels ofthe first jaw portions and the channel shape of the plurality ofchannels of the second jaw portion.

In an implementation of the embodiment, the first protrusion of thedocking assembly of the tool comprises a first magnetic contact having afirst magnetic contact shape and the docking opening of the grasperhousing comprises a second magnetic contact having a second magneticcontact shape complementary to the first magnetic contact of the firstprotrusion, with the first magnetic contact of the first protrusion ofthe docking assembly of the tool configured to cooperate with secondmagnetic contact of the docking opening of the grasper to constrain thetool in all axes relative to the grasper.

In a second embodiment the technology includes a system comprising agrasper comprising, a grasper housing having a distal end and a proximalend, the grasper housing defining a docking opening at the distal end,the docking opening having a shape, and a jaw at the distal end of thegrasper housing, the jaw including a first jaw portion and a second jawportion, with at least one of the first and second jaw portions movablyrelative to the other, and a tool comprising a tool housing having adistal end and a proximal end and defining an inner surface, a dockingassembly defined by the tool housing at the proximal end of the toolhousing, the docking assembly comprising a first protrusion extendingproximally from the proximal end of the tool housing and having a firstprotrusion shape complementary to the shape of the docking opening, andan operative assembly at the distal end of the tool housing, theoperative assembly comprising an instrument operably connected to thetool housing, and a robotic device operably coupled to the proximal endof the grasper and configured to actuate the first and second jawportions of the grasper between a first position and a second position.In the system, the first protrusion of the docking assembly of the toolis configured to cooperate with the docking opening of the grasperhousing to constrain the tool in all axes relative to the grasper.

In an implementation of the second embodiment, the first jaw portion isfixed relative to the grasper housing and the second jaw portion ismovable relative to the first jaw portion. In an implementation of thesecond embodiment, the first and second jaw portions of the grasper areindependently movable. In an implementation of the second embodiment,the first and second jaw portions of the grasper are movably opposed.

In an implementation of the second embodiment, the instrument of theoperative assembly is one of a cautery hook, scalpel, cautery pen,surgical probe, biopsy puncher, dissector, curette, gouge, knife,impactor, rasps, retractor, saw, separator, spatula, stripper, orsurgical needle.

In an implementation of the second embodiment, the tool housingcomprises a plurality of tool housing segments, the plurality of toolhousing segments defines a tool housing interior and with the pluralityof tool housing segments coupled by at least one support.

In an implementation of the second embodiment, at least one of the firstand second jaw portions of the grasper defines a channel having achannel shape and the docking assembly of the tool further comprises asecond protrusion extending form the inner surface of the tool housingthat has a second protrusion shape complementary to the channel shape ofthe at least one of the first and second jaw portions of the grasper,and the first protrusion of the docking assembly of the tool isconfigured to cooperate with the docking opening of the grasper housingand the second protrusion of the docking assembly is configured tocooperate with the channel of the at least one of the first and secondjaw portions of the grasper to constrain the tool in all axes relativeto the grasper.

In an implementation of the second embodiment the first jaw portioncomprises an electrically conductive contact portion at a distal end ofthe jaw portion, and an electrical conductor coupled to the conductivecontact portion, and the first jaw portion is electrically insulated. Inan aspect of an implementation, the tool housing of the tool comprisesan electrically conductive contact disposed on the inner surface of thetool housing and the first jaw portion is configured to transmitelectrical power to the electrical conductive contact of the toolhousing. In an aspect of an implementation, the electrically conductivecontact of the tool housing is operably coupled to the instrument of theoperative assembly to transfer electrical power to said instrument.

In an implementation of the second embodiment, the first jaw portion iselectrically conductive and is coupled to a first electrical conductorand the second jaw portion is electrically conductive and is coupled toa second electrical conductor. In an aspect of an implementation, thetool housing comprises a plurality of electrically conductive contactsoperably coupled to the instrument of the operative assembly, and thefirst and second jaw portions are configured to transfer electricalpower to the plurality of electrically conductive contacts for supplyingelectrically power to the instrument.

In an implementation of the second embodiment, the grasper housingfurther defines a plurality of docking openings, each of the pluralityof docking openings having a shape, and the docking assembly of the toolfurther comprising a plurality of first protrusions extending proximallyform the proximal end of the tool housing and each of the plurality offirst protrusions having a corresponding first protrusion shapecomplementary to the shape of one of the plurality of docking openings,and wherein the plurality of first protrusions of the docking assemblyof the tool are configured to cooperate with the plurality of dockingopenings of the grasper housing to constrain the tool in all axesrelative to the grasper.

In an implementation of the second embodiment, the first jaw portiondefines a plurality of channels, each of the plurality of channelshaving a channel shape and the second jaw portion defines a plurality ofchannels each of the plurality of channels having a channel shape andthe docking assembly further comprising a plurality of secondprotrusions extending from the inner surface of the tool housing, eachof the second protrusions having a corresponding second protrusion shapecomplementary to the channel shape of the plurality of channels of thefirst jaw portion and the channel shape of the plurality of channels ofthe second jaw portion.

In an implementation of the second embodiment, at least one of the firstand second jaw portions is configured to be electrified and at least oneof the first and second jaw portions is configured to supply electricalpower to the instrument of operative assembly.

The technology includes an embodiment of a method comprising, providinga grasper comprising, a grasper housing having a distal end and aproximal end, the grasper housing defining a docking opening at thedistal end, the docking opening having a shape, and a jaw at the distalend of the grasper housing, the jaw including a first jaw portion and asecond jaw portion, the first and second jaw portions being movablyopposed, providing a tool comprising, a tool housing having a distal endand a proximal end and defining an inner surface, a docking assemblydefined by the tool housing at the proximal end of the tool housing, thedocking assembly comprising a first protrusion extending proximally fromthe proximal end of the tool housing and having a first protrusion shapecomplementary to the shape of the docking opening, and an operativeassembly at the distal end of the tool housing, adjusting the jaw of thegrasper to a first jaw position, and disposing the first protrusion ofthe docking assembly into the docking opening of the grasper housing. Inthe method, the operative assembly of the tool further comprises aninstrument operably coupled to the tool housing.

In an implementation of the method, at least one of the first and secondjaw portions of the grasper defines a channel having a channel shape,and the docking assembly further comprises a second protrusion extendingfrom the inner surface of the tool housing having a second protrusionshape complementary to the channel shape. In an implementation of themethod, the disposing step further comprising the step of simultaneouslyaligning the second protrusion of the docking assembly with the channelof at least one of the first and second jaw portions of the jaw. In anaspect, the method further comprises the step of adjusting the jaw ofthe grasper to a second jaw position that is relatively more closed thanthe first jaw position to cause the second protrusion of the dockingassembly to enter the channel of at least one of the first and secondjaw portions of the grasper.

In one implementation of the method, the operative assembly of the toolfurther comprises, a fulcrum operably coupled to the tool housing, alever operably coupled to the fulcrum, an instrument operably coupled tothe lever, and an actuator operably coupled to the tool housing and theat least one lever. In one implementation of the method, the first jawportion of the jaw of the grasper further comprises at least oneactuation mating surface and the second jaw portion of the jaw of thegrasper further comprises at least one actuation mating surface. In anaspect, the method further comprising the step of adjusting the jaw ofthe grasper to a second jaw position that is relatively more closed thanthe first jaw position to cause the lever of the operative assembly tomate with the actuation mating surface of one of the first or second jawportions. In an aspect, the method further comprising the step ofapplying a force upon the lever of the tool using the jaw of thegrasper, as the jaw of the grasper moves towards a closed jaw positionto cause the lever to ride along the actuation mating surface of one ofthe first or second jaw portions while the lever rotates about thefulcrum from a first lever position to a second lever position. In anaspect, the method further comprising the step of administering a forceupon the lever with the actuator to cause the lever to rotate around thefulcrum from the second lever position to the first lever position asthe jaw of the grasper moves from the closed jaw position towards thefirst jaw position, while the lever rides along the actuation matingsurface of one of the first or second jaw portions.

In an implementation of the method, the instrument comprises, a fulcrumoperably coupled to the tool housing, a first and second lever operablycoupled to the fulcrum, a first instrument component operably coupled tothe first lever, a second instrument operably coupled to the secondlever, a first actuator operably coupled to the tool housing and thefirst lever, and a second actuator operably coupled to the tool housingand the second lever. In an aspect of an implementation, the first jawportion of grasper further comprises a first actuation mating surfaceand second actuation mating surface and the second jaw portion of thegrasper further comprises a first actuation mating surface and secondactuation mating surface. In an aspect, the method further comprises thestep of adjusting the jaw of the grasper to a second jaw position thatis relatively more closed than the first jaw position to cause the firstlever of the instrument to mate with one of the first or secondactuation mating surface of one of the first or second jaw portions andthe second lever to mate with one of the first or second actuationmating surface of one of the first or second jaw portions. In an aspect,the method further comprises a step of applying a force upon the firstand second levers of the instrument using the jaw of the grasper as saidjaw moves from the second jaw position towards a third jaw position thatis relatively more closed than the second jaw position to cause thefirst lever to rotate about the fulcrum from a first lever position to asecond lever position while the first lever rides along one of the firstor second actuation mating surface of one of the first or second jawportions and the second lever rotates about the fulcrum from the firstlever position to the second lever position while the second lever ridesalong one of the first or second actuation mating surface of one of thefirst or second jaw portions. In an aspect, the method further comprisesthe step of moving the jaw of the grasper from the third jaw position tothe first jaw position thereby enabling the first actuator to apply aforce upon the first lever and enabling the second actuator to apply aforce upon the second lever, the force applied by the first actuatorcauses the first lever to rotate about the fulcrum from the second leverposition to the first lever position while the first lever rides alongone of the first or second actuation mating surface of one of the firstor second jaw portions and the force applied by the second actuatorcauses the second lever to rotate about the fulcrum from the secondlever position to the first lever position while the second lever ridesalong one of the first or second actuation mating surface of one of thefirst or second jaw portions.

In an implementation the method, the operative assembly furthercomprises an instrument operably connected to the tool housing and thetool housing further comprises a plurality of electrically conductivecontacts that are operably connected to the instrument and at least oneof the first and second jaw portions is electrically conductive and iscoupled to a first electrical conductor coupled to a power supply andsaid method further comprises mating the at least one of the first orsecond jaw portions that is electrically conductive with the pluralityof electrically conductive contacts of the tool housing to transferelectrical power from the at least one of the first or second jawportions that is electrically conductive to the plurality ofelectrically conductive contacts to cause the instrument to becomeelectrified.

In an implementation of the method, the operative assembly of the toolfurther comprises a fulcrum operably coupled to the tool housing, alever comprising a proximal end comprising a proximal end comprising aprojection and operably connected to the fulcrum, and instrumentoperably coupled to the lever, and an actuator operably coupled to thetool housing and the least one lever. In an aspect of an implementation,at least one of the first and second jaw portions of the graspercomprises a force-open channel having a force-open shape complementaryto the projection of the lever, and at least one of the first and secondjaw portions of the grasper comprises a top surface and at least oneactuation mating surface configured to cooperate with the lever and saidmethod further comprises the step of orientating the instrument to aclosed instrument position. In an aspect, the method further comprisesthe step of adjusting the jaw of the grasper to a closed jaw position tocause the projection of the lever to pass through the force-open channelof one of the first or second jaw portions of the grasper, whilesimultaneously aligning and mating the lever with the actuation matingsurface of one of the first or second jaw portions and while one of thefirst or second jaw portions of the grasper simultaneously applies aforce upon the lever of the operative assembly. In an aspect, the methodfurther comprises the step of adjusting the jaw of the grasper from theclosed jaw position towards an open jaw position to allow the actuatorof the operative assembly to simultaneously administer a force upon thelever to cause the projection of the lever to maintain a clearance abovethe top surface of one of the first or second jaw portions of thegrasper, while simultaneously allowing the lever to ride along theactuation mating surface of one of the first or second jaw portions,while the lever rotates about the fulcrum to cause the instrument of theoperative assembly to move towards a first instrument position. In anaspect, the method further comprises the step of contacting theprojection of the lever with the top surface of one of the first orsecond jaw portions of the grasper, while the jaw of the grasper movestowards the open jaw position to cause one of the first or second jawportions to apply a force upon the projection to cause the lever torotate about the fulcrum, while the projection simultaneously ridesalong the top surface of one of the first or second jaw portions tocause the instrument of the operative assembly to reach the firstinstrument position. In an aspect, the method further comprises the stepof applying a force upon the lever using the jaw of the grasper to causethe lever to rotate about the fulcrum, while the lever rides along theactuation mating surface of one of the first or second jaw portions tocause the instrument of the operative assembly to move to a secondinstrument position that is relatively more closed than the firstinstrument position, while the projection of the lever simultaneouslyrides above the top surface of one of the first or second jaw portionsof the grasper.

In an embodiment, the technology includes a surgical apparatuscomprising, a grasper comprising a grasper housing having a distal endand a proximal end, the grasper housing defining a docking opening atthe distal end, the docking opening having a shape, and a jaw at thedistal end of the grasper housing, the jaw including a first jaw portionand a second jaw portion, at least one of the first or second jawportions is movable relative to the other, and wherein the first andsecond jaw each comprise at least one actuation mating surface, and arobotic device operably coupled to the proximal end of the grasperhousing and configured to actuate the first and second jaw portions ofthe grasper between a first position and a second position. In animplementation of the surgical apparatus, the first and second jawportions of the grasper are configured to engage and actuate a tool. Inan implementation of the surgical apparatus, the shape of the dockingopening of the grasper housing is configured to mate with a tool havinga tool housing comprising a proximal end and a distal end and an innersurface, the tool housing defines a docking assembly at the proximal endof the tool housing, the docking assembly comprises a first protrusionextending proximally from the proximal end of the tool housing andhaving a shape complementary to the docking opening of the grasper, andthe first protrusion is configured to cooperate with the docking openingto constrain the tool in all axes relative to the grasper.

In an implementation of the surgical apparatus, at least one of thefirst and second jaw portions define a channel having a channel shapeand configured to cooperate with a tool having a tool housing comprisinga proximal end and a distal end and an inner surface, the tool housingdefines a docking assembly at the proximal end of the tool housing, thedocking assembly comprises a first protrusion extending proximally fromthe proximal end of the tool housing and having a first protrusion shapecomplementary to the docking opening of the grasper, and the dockingassembly of the tool further comprises a second protrusion extendingfrom the inner surface of the tool housing and having a secondprotrusion shape complementary to the channel shape. In an aspect of animplementation, the docking opening of the grasper housing is configuredto cooperate with the first protrusion of the docking assembly of thetool, and the channel of the at least one of the first and second jawportions of the grasper is configured to cooperate with the secondprotrusion of the docking assembly of the tool to constrain the tool inall axes relative to the grasper.

In an implementation of the surgical apparatus, the first jaw portion isfixed relative to the grasper housing and the second jaw portions ismovable relative to the first jaw portion. In implementation of thesurgical apparatus, the first and second jaw portions are independentlymovable.

In an implementation of the surgical apparatus, the first jaw portioncomprises, an electrically conductive contact portion at a distal end ofthe jaw portion, an electrical conductor coupled to the conductivecontact portion, and a proximal end comprising an electrical insulator.In an aspect of an implementation, the electrically conductive contactand the electrical conductor of the first jaw portion are configured totransfer an electrical current to a tool to electrify said tool.

In an implementation of the surgical apparatus, the first jaw portion iselectrically conductive and is coupled to a first electrical conductorand the second jaw portion is electrically conductive and is coupled toa second electrical conductor. In an aspect of an implementation, thegrasper housing is configured as an electrical insulator.

In an aspect of an implementation, the first and second jaw portions ofthe grasper each comprises a proximal end, the proximal end of both thefirst and second jaw portions are electrically insulated. In an aspectof an implementation, the first and second jaw portions of the grasperare configured to transfer an electrical current to a tool to electrifysaid tool.

In an implementation of the surgical apparatus, at least one of thefirst and second jaw portions of the grasper comprises a force-openchannel having a force-open channel shape complementary to a projectionof a lever of a tool, and the at least one of the first and second jawportions having the force-open channel further comprises a top surface.In an aspect of an implementation, the force-open channel is configuredto allow the projection of the lever of the tool to pass through thechannel to allow the projection to rest above the top surface of the atleast one of the first and second jaw portions having the force-openchannel and said top surface is configured to apply a force upon theprojection of the lever of the tool to cause the tool to move to a firsttool position.

BRIEF DESCRIPTION OF FIGURES

Note that numbered items remain consistent across all figures. Itemsnumbered with the same number are either the same item, or identicalcopies of the item. Items numbered with different numbers are eitherparts of different design, or are occasionally identical parts servingdifferent purposes.

FIG. 1A is a left profile view of one embodiment of a robotic arm priorto coupling with a tool.

FIG. 1B is a left profile view of one embodiment of a robotic armcoupled with a tool.

FIG. 2A is a top profile view of the tool hull according to oneembodiment.

FIG. 2B is a top exploded view of the tool hull according to oneembodiment.

FIG. 2C is a rear profile view of the tool hull according to oneembodiment.

FIG. 2D is a rear exploded view of the tool hull according to oneembodiment.

FIG. 3A is a left profile view of the tool hull according to oneembodiment.

FIG. 3B is a cutaway view of the right side of a tool hull according toone embodiment.

FIG. 3C is a cutaway view of the right side of a tool hull illustratingthe actuator of the device according to one embodiment.

FIG. 4A is a left profile view of a right tool actuation lever accordingto one embodiment.

FIG. 4B is a top profile view of a right tool actuation lever accordingto one embodiment.

FIG. 4C is a top profile view of a left tool actuation lever accordingto one embodiment.

FIG. 4D is a left profile view of a left tool actuation lever accordingto one embodiment.

FIG. 5 is a front profile view of the universal grasper according to oneembodiment.

FIG. 6 is a diagonal isometric view of the universal grasper accordingto one embodiment.

FIG. 7A is a left profile view of the tool hull and universal grasperillustrating their respective states prior to attachment according toone embodiment.

FIG. 7B is a cutaway view of the right side of a tool hull illustratingits state prior to attachment to the universal grasper according to oneembodiment.

FIG. 8A is a left profile view of a tool hull and a universal grasperillustrating their respective states at the point of initial attachmentaccording to one embodiment.

FIG. 8B is a cutaway view of the right side of a tool hull illustratingits state at the point of initial attachment to a universal grasperaccording to one embodiment.

FIG. 9 is an enlarged cutaway view of the left side of universal grasperjaws and a cutaway view of the right side of a tool hull in theirrespective states at the point of initial attachment according to oneembodiment.

FIG. 10A is a left profile view of a tool hull attached to a universalgrasper according to one embodiment.

FIG. 10B is a cutaway view of the right side of a tool hull attached toa universal grasper according to one embodiment.

FIG. 11 is an enlarged cutaway view of the right side of a tool hullwith a cutaway view of the left side of universal grasper jaws attachedto the right side of the tool hull according to one embodiment.

FIG. 12A is a cutaway side isometric view of a tool hull and toolactuation lever when attached to a universal grasper with the grasperjaws in a closed position according to one embodiment.

FIG. 12B is a cutaway isometric view of a tool hull and tool actuationlevers when attached to a universal grasper with the grasper jaws in anopen position according to one embodiment.

FIG. 12C is a cutaway isometric view of a tool hull and tool actuationlevers when attached to a universal grasper with the grasper jaws in anopen position according to one embodiment.

FIG. 13A is a cut away view of the left side of a universal grasper jawsin an open position with a cutaway view of the right side of a tool hullattached to a universal grasper according to one embodiment.

FIG. 13B is a cutaway view of the left side of universal grasper jaws ina partially closed position with a cutaway view of the right side of atool hull attached to a universal grasper according to one embodiment.

FIG. 13C is a cutaway view of the left side of a universal grasper jawsin a closed position with a cutaway view of the right side of a toolhull attached to a universal grasper according to one embodiment.

FIG. 14A is a cutaway view of a tool and a universal grasperillustrating the position of tool actuation levers when the universalgrasper jaws are in an open position according to one embodiment.

FIG. 14B is a cutaway view of a tool and a universal grasperillustrating the position of tool actuation levers when the universalgrasper jaws are in a partial closed position according to oneembodiment.

FIG. 14C is a cutaway view of a tool and a universal grasperillustrating the position of tool actuation levers when the universalgrasper jaws are in a closed position according to one embodiment.

FIG. 15A is a cutaway view of the right side of a tool hull and the mainbody of a universal grasper prior to mating according to one embodiment.

FIG. 15B is an isometric cutaway view of the right side of a tool hulland the main body of a universal grasper prior to mating according toone embodiment.

FIG. 16A is a cutaway view of the right side of a tool hull and the mainbody of a universal grasper when mated according to one embodiment.

FIG. 16B is an isometric cutaway view of the right side of a tool hulland the main body of a universal grasper when mated according to oneembodiment.

FIG. 17A is a left profile view of a scissor tool in an open positionaccording to one embodiment.

FIG. 17B is a cutaway view of the right side of a scissor tool in anopen position according to one embodiment.

FIG. 18A is a left profile view of a scissor tool in a closed positionaccording to one embodiment.

FIG. 18B is a cutaway view of the right side of a scissor tool in aclosed position according to one embodiment.

FIG. 19A is an isometric cutaway view of the right side of a scissortool according to one embodiment.

FIG. 19B is a rear side isometric cutaway view of a scissor toolaccording to one embodiment.

FIG. 20 is a top profile view of a scissor tool according to oneembodiment.

FIG. 21A is a top exploded view of a scissor tool according to oneembodiment.

FIG. 21B is a diagonal exploded isometric view of a scissor toolaccording to one embodiment.

FIG. 22A is a left profile view of a needle driver tool in an openposition according to one embodiment.

FIG. 22B is a cutaway view of the right side of a needle driver tool inan open position according to one embodiment.

FIG. 23A is a cutaway view of a right side of a needle driver tool in aclosed position according to one embodiment.

FIG. 23B is a left profile view of a needle driver tool in a closedposition according to one embodiment.

FIG. 24 is an isometric view of a needle driver tool according to oneembodiment.

FIG. 25 is a top profile view of a needle driver tool according to oneembodiment.

FIG. 26A is a top exploded view of a needle driver tool according to oneembodiment.

FIG. 26B is an exploded isometric view of a needle driver tool accordingto one embodiment.

FIG. 27A is a left profile view of an introducer according to oneembodiment.

FIG. 27B is a left profile view of an introducer prior to engaging atool according to one embodiment.

FIG. 27C is a left profile view of an introducer with a tool engagedaccording to one embodiment.

FIG. 27D is an enlarged left profile view of an introducer with a toolengaged according to one embodiment.

FIG. 27E is an enlarged cutaway view of an introducer with a toolengaged according to one embodiment.

FIG. 28 is a cut away view of an introducer according to one embodiment.

FIG. 29 is an enlarged cut away view of an introducer handle accordingto one embodiment.

FIG. 30 is an enlarged cut away view of distal end of an introduceraccording to one embodiment.

FIG. 31 is an enlarged cut away view of an engagement tip of anintroducer according to one embodiment.

FIG. 32 is a right profile view of exemplary tool actuation leverscontaining actuation lever nubs according to one embodiment.

FIG. 33 is a right profile view of an exemplary tool containingactuation lever nubs according to one embodiment.

FIG. 34A is a left profile view of a universal grasper containingactuation lever nub channels according to one embodiment.

FIG. 34B is a right profile view of a universal grasper containingactuation lever nub channels according to one embodiment.

FIG. 35A is a cut away view of an exemplary tool with actuation levernubs orientated in a mating state with a universal grasper according toone embodiment.

FIG. 35B is a cut away view of an exemplary tool with actuation levernubs after mating with a universal grasper according to one embodiment.

FIG. 36A is an isometric profile view of an embodiment of a universalgrasper prior to mating with tool actuation levers containing actuationlever nubs according to one embodiment.

FIG. 36B is an isometric profile view of an embodiment of a universalgrasper after mating with tool actuation levers containing actuationlever nubs according to one embodiment.

FIG. 37A is an isometric profile view of an embodiment of a universalgrasper illustrating initial actuation of an embodiment of toolactuation levers containing actuation lever nubs according to oneembodiment.

FIG. 37B is an isometric profile view of an embodiment of a universalgrasper illustrating actuation of an embodiment of tool actuation leverscontaining actuation lever nubs according to one embodiment.

FIG. 38A is a side profile view of a universal grasper with anelectrified jaw according to one embodiment.

FIG. 38B is a cutaway side profile view of a universal grasper with anelectrified jaw according to one embodiment.

FIG. 39A is a side profile view of a universal grasper with electricalwires and an electrified jaw according to one embodiment.

FIG. 39B is a cutaway side profile view of a universal grasper withelectrical wires and an electrified jaw according to one embodiment.

FIG. 40 is an enlarged side profile view of an electrified jaw accordingto one embodiment.

FIG. 41 is an enlarged rear diagonal isometric view of an electrifiedjaw according to one embodiment.

FIG. 42 is an enlarged front diagonal isometric view of an electrifiedjaw according to one embodiment.

FIG. 43 is an enlarged exploded isometric view of an electrified jawaccording to one embodiment.

FIG. 44 is an enlarged rear exploded profile view of an electricalinsulator of an electrified jaw according to one embodiment.

FIG. 45 is an enlarged rear exploded profile view of an electricalsheathing and electrical insulator of an electrified jaw according toone embodiment.

FIG. 46 is an enlarged front diagonal exploded isometric view of anelectrified jaw according to one embodiment.

FIG. 47A is a profile view of an electrically actuated tool according toone embodiment.

FIG. 47B is a diagonal isometric view of an electrically actuated toolaccording to one embodiment.

FIG. 47C is a cutaway isometric view of an electrically actuated toolaccording to one embodiment.

FIG. 47D is a top profile view of an electrically actuated toolaccording to one embodiment.

FIG. 47E is a diagonal isometric view of an electrically actuated toolaccording to one embodiment.

FIG. 48A is an isometric profile view of an illustrative embodiment ofan electrically actuated tool when mated to a universal grasperaccording to one embodiment.

FIG. 48B is a cutaway isometric profile view of an illustrativeembodiment of an electrically actuated tool when mated to a universalgrasper according to one embodiment.

FIG. 49A is a profile view of a disengagement tool according to oneembodiment.

FIG. 49B is a profile view of a disengagement tool, with the clampingmembers in an open state according to one embodiment.

FIG. 49C is a top profile view of a disengagement tool according to oneembodiment.

FIG. 49D is an isometric view of a disengagement tool according to oneembodiment.

FIG. 50A is an isometric view of a disengagement tool coupled to auniversal grasper prior to clamping around a tool according to oneembodiment.

FIG. 50B is an isometric view of a disengagement tool after clampingaround a tool according to one embodiment.

FIG. 51A is an enlarged isometric view of a disengagement tool prior toclamping around a tool according to one embodiment.

FIG. 51B is an enlarged isometric view of a disengagement tool afterclamping around a tool according to one embodiment.

FIG. 52A is an isometric view of a universal grasper with jaws havingattachment pins according to one embodiment.

FIG. 52B is an enlarged front profile view of jaws of a universalgrasper with attachment pins according to one embodiment.

FIG. 53A is a side profile of a tool with attachment appendagescontaining attachment channels in a closed position according to oneembodiment.

FIG. 53B is a side profile of a tool with attachment appendagescontaining attachment channels, in an open position according to oneembodiment.

FIG. 53C is an isometric view of a tool, with attachment appendagescontaining attachment channels, in a closed position according to oneembodiment.

FIG. 53D is an isometric view of a tool with attachment appendagescontaining attachment channels, in an open position according to oneembodiment.

FIG. 54A is a cutaway view of a tool with attachment appendagescontaining attachment channels, according to one embodiment.

FIG. 54B is a cutaway view of a tool with attachment appendagescontaining attachment channels, according to one embodiment.

FIG. 55A is a side profile view of an embodiment of a universal grasperwith attachment pins prior to mating with a tool with attachmentappendages containing attachment channels, according to one embodiment.

FIG. 55B is a side profile view of an embodiment of a universal grasperwith attachment pins illustrating initial mating with a tool withattachment appendages containing attachment channels, according to oneembodiment.

FIG. 55C is a side profile view of an embodiment of a universal grasperwith attachment pins after mating with a tool with attachment appendagescontaining attachment channels, according to one embodiment.

FIG. 56A is a side profile view of an embodiment of a universal grasperwith attachment pins illustrating initial actuation of an embodiment ofa tool with attachment appendages containing attachment channels,according to one embodiment.

FIG. 56B is a side profile view of an embodiment of a universal grasperwith attachment pins illustrating actuation of an embodiment of a toolwith attachment appendages containing attachment channels, according toone embodiment.

FIG. 56C is a side profile view of an embodiment of a universal grasperwith attachment pins illustrating actuation of an embodiment of a toolwith attachment appendages containing attachment channels, according toone embodiment.

FIG. 57A is a side profile view of an embodiment of a tool withattachment appendages containing attachment pins according to oneembodiment.

FIG. 57B is a top profile view of an embodiment of a tool withattachment appendages containing attachment pins according to oneembodiment.

FIG. 57C is an isometric view of an embodiment of a tool with attachmentappendages containing attachment pins according to one embodiment.

FIG. 58A is a cutaway view of a tool with attachment appendagescontaining attachment pins, according to one embodiment.

FIG. 58B is an isometric cutaway view of a tool with attachmentappendages containing attachment pins, according to one embodiment.

FIG. 59A is a side profile view of a universal grasper with jaws havingattachment channels, in an open position according to one embodiment.

FIG. 59B is a side profile view of a universal grasper with jaws havingattachment channels, in a closed position according to one embodiment.

FIG. 60A is a side profile view of an embodiment of a universal grasperwith attachment channels prior to mating with a tool with attachmentappendages containing attachment pins, according to one embodiment.

FIG. 60B is a side profile view of an embodiment of a universal grasperwith attachment channels illustrating initial mating with a tool withattachment appendages containing attachment pins, according to oneembodiment.

FIG. 60C is a side profile view of an embodiment of a universal grasperwith attachment channels after mating with a tool with attachmentappendages containing attachment pins, according to one embodiment.

FIG. 61A is a side profile view of an embodiment of a universal grasperwith attachment channels illustrating initial actuation of an embodimentof a tool with attachment appendages containing attachment pins,according to one embodiment.

FIG. 61B is a side profile view of an embodiment of a universal grasperwith attachment channels illustrating actuation of an embodiment of atool with attachment appendages containing attachment pins, according toone embodiment.

FIG. 61C is a side profile view of an embodiment of a universal grasperwith attachment channels illustrating actuation of an embodiment of atool with attachment appendages containing attachment pins, according toone embodiment.

DETAILED DESCRIPTION

While the present system is designed for use by a surgeon within theabdominal cavity, many alternative uses of the device are possible. Forexample, a user might be a physician assistant, nurse, surgical aid, orany other surgical personnel. Additionally, the device could be disposedwithin any part of a patient's body, and future embodiments could bedesigned to be much smaller so as to allow for use within smaller areasof a patient's body. Both smaller and larger devices can be fabricatedfor use in areas such as the paranasal sinuses, colon, stomach, or anyother areas within the human body including but not limited to, theabdomen, cranium and cervicis. Micro-fabrication using MEMS or othermeans could allow for a device to be positionable within immensely smallareas such as human blood vessels.

In other embodiments, the device may be used for non-surgical ornon-medical tasks such as micro-fabrication, assembly of parts, bombdefusing, industrial manufacturing, or any other task requiring the useof multiple tools and fine motor skills. Alternative embodiments of thedevice could be fabricated to be human-sized or even larger-than-lifeallowing humans to perform tasks, which they are too small, too weak, orotherwise unable. Obviously, in such embodiments, the user may notnecessarily be a surgeon.

Overview

The surgical apparatus system disclosed herein has been designed to beincorporated and utilized with the Virtual Reality Surgical Devicedisclosed in International Patent Application No. PCT/US2015/02926(published as International Patent Application No. WO2015171614A1),included in the attached appendix and incorporated by reference in itsentirety herein. Notwithstanding the above sentence, in otherembodiments the surgical apparatus system disclosed herein can beimplemented and utilized by other existing robotic surgery systemsand/or devices.

The purpose of the system is to allow a surgeon who is performingsurgery utilizing the Virtual Reality Surgical Device to be able tointerchange between different types of surgical tools and instrumentswithout having to remove the robotic arm from the surgical site andmanually switch and attach different surgical tools. The system allows asurgeon to select and use a desired tool using the robotic arm of theVirtual Reality Surgical Device, the same way a person would use his orher own hand to pick up an object in normal every day life, thusallowing a surgeon to remain completely immersed in virtual realitywhile utilizing the Virtual Reality Surgical Device.

The system disclosed provides numerous advantages for surgeons, as itallows a surgeon to interact with the in vivo robotic device as if thedevice were the surgeon's own arms and hands. This allows a surgeon toperform very difficult and delicate procedures in close quarters, whileallowing a surgeon to maintain the natural motions to which he or she isaccustomed when performing a procedure. With the system a surgeon isable to perform an operation in the manner and form in which he or sheis accustomed, while being able to access areas of the body that wouldnot otherwise be accessible using other robotic devices. Additionally,with the system a surgeon is able to switch between different tools andinstruments at his or her own free will, without having to remove theentire surgical device to enact the exchange between tools and/orinstruments. This allows a surgeon to perform numerous complexprocedures without undue delay, thus decreasing the time it takes toperform a procedure and allowing a patient to commence their recoverysooner.

In addition, the system reduces the number of incisions necessary for anoperation to be performed. A reduction in the number of incisionsprovides an immense benefit to a patient's health and recovery, as therisk of infection and size and number of surgical wounds are decreased.As the tools and instruments of the system can be introduced into apatient through the same incision as the robotic device and also remainin close proximity to a surgical site inside of the patient, a surgeonis able to interchange between different tools and instruments with easewithout removal of the device. This helps to reduce the operation time,reduce the need to reposition the robotic device at the surgical siteand also helps a surgeon concentrate on performing a surgery, thusimproving his or her productivity.

The surgical apparatus system also allows the surgeon access to anextensive collection of surgical tools and instruments, while utilizingonly one device, thus bestowing a surgeon with the ability to performnumerous procedures without having to purchase or utilize multiplerobotic devices.

Unless otherwise stated, the term “distal” as used herein meansrelatively further from a reference point, while “proximal” meansrelatively closer to a reference point. In general, the reference pointwill be the operator of the object being described.

FIG. 1A shows a side view of one embodiment of the system prior toattachment with a tool. FIG. 1B gives an illustration of one embodimentof the system after a tool has been attached. According to oneembodiment the system consists of a tool 124 which is housed by a toolhull or housing 100, where the tool hull 100 interfaces with theuniversal grasper 118 of a robotic arm 125, thus allowing the operatorto select and engage an array of tools by simply picking up the toolwith said universal grasper 118.

FIG. 2A-2D show multiple views of one embodiment of the tool hull 100.The tool hull 100 is an essential part to the overall surgical apparatussystem, as it performs crucial functions. The tool hull 100 functions asa housing for the tool and/or instrument. In addition, the tool hull 100provides key mating and/or attachment functions. Moreover, the tool hull100 provides constraint and stability to the overall system, bypreventing parts of the system from moving and detaching from othercomponents. In some embodiments, the tool hull 100 has a proximal endand distal end. In some embodiments, the proximal end of the tool hull100 forms a docking assembly, with said assembly providing key matingand/or attachment features, such as a docking tab(s) or protrusion(s)103 and a tool attachment pin(s) or protrusion(s) 102. In someembodiments, the distal end of a tool hull 100 forms an operativeassembly which encompasses key tool and/or instrument features andelements, such as a fulcrum(s) 108, a tool actuation lever(s) 109,and/or an actuator 111.

In one embodiment, the tool hull 100 is fabricated out of two bodies ortool housing segments 107, a left and right body, which mate with oneanother forming an inner surface and a housing for a tool and/orinstrument. As used herein, the terms “left” and “right” are arbitraryterms employed for convenience only. These terms are not intended toconvey any preferred orientation, function, or structure, or to suggestany intrinsic difference or similarity between the bodies or toolhousing segments of the tool hull, or any other components referredherein as “left” and “right” components. While certain differences maybe noted below, these are provided only by way of exemplary embodimentsand are not intended to limit the meaning of the terms “left” and“right” as described above. Similarly, terms such as “top” and “back”are provided for convenience only, and are not intended to convey anyspecific orientation, function, or structure unless explicitly noted tothe contrary or otherwise clear from the context.

In one embodiment, the bodies or tool housing segments 107 of the toolhull or housing 100 are identical and symmetrically orientated relativeto one another. In a different embodiment, the tool hull 100 consists oftwo bodies or tool housing segments, which may be asymmetric ordifferent. In further embodiments, the tool hull 100 is fabricated asone solid body consisting of two sides. The tool hull 100 is constructedout of biocompatible materials including but not limited to metals,plastics, ceramics and/or other materials known to those in the art. Insome embodiments, the tool hull 100 is constructed of biocompatiblemetals including but not limited to surgical stainless steel ortitanium. In other embodiments, the tool hull 100 is constructed ofbiocompatible plastics including but not limited to polyvinylchloride(PVC), polyethersulfore (PES), polyetheretherketone (PEEK), polysulfone(PS) or other biocompatible plastics known by those in the field.Furthermore, other embodiments may be constructed of biocompatibleceramics such as aluminum oxide (Al₂O₃) and/or other biocompatibleceramics known by those in the field.

In one embodiment, the bodies or segments 107 of the tool hull 100 affixto each other by a top support bar 104 and a bottom support bar 105. Insome embodiments, the top support bar 104 is affixed to the right body107 of the tool hull 100 and the bottom support bar is affixed to theleft body 107 of the tool hull 100 as illustrated in FIG. 2B. In otherembodiments, the top support bar 104 is affixed to the left body 107 ofthe tool hull 100 and the bottom support bar is affixed to the rightbody 107 of the tool hull 100. In some embodiments, the top support bar104 and bottom support bar 105 are located at the distal end of thebodies 107 of the tool hull. In other embodiments, the top support bar104 and bottom support bar 105 are located at the proximal end of thebodies 107 of the tool hull 100. The top support bar 104 and bottomsupport bar 105 provide stability to the tool hull 100, by preventingdeflection, torsion and flexure of the bodies 107 of the tool hull 100.

In one embodiment, each support bar contains a pin 106 that fits into acorresponding pinhole 101 located on the opposite body of the tool hull100 as depicted in the embodiments shown in FIG. 2B and FIG. 3B. In someembodiments press fits and snaps are used instead of pins. In otherembodiments, the pinhole connection is substituted for a weldedconnection, magnetic connection, adhesive connection and/or any othermethod or combination of methods known in the art. The pinholeconnection along with the support bars help to support and stabilize atool when it is being utilized. In addition, the pinhole connectionhelps to prevent deflection, torsion and flexure of the bodies 107 ofthe tool hull 100. Alternatively, some embodiments of the tool hull 100do not contain a top support bar 104 and/or a bottom support bar 105. Inthese embodiments, the tool hull 100 may be fabricated as one solidbody, thus eliminating the concern of separation of the bodies orsegments 107.

Additionally, in some embodiments the bodies or segments 107 of the toolhull 100 are also affixed to one another via a fulcrum 108 and nut 123connection as illustrated in the embodiment shown in FIG. 21A. In oneembodiment, the fulcrum 108 passes through an opening in the left bodyof a tool hull 100 through apertures 110 in the middle of tool actuationlevers 109 and through an opening in the right body of a tool hull 100where the fulcrum 108 connects to a nut 123. In other embodiments, thefulcrum 108 passes through the right body of a tool hull 100 thenthrough the apertures 110 of tool actuation levers 109 and through theleft body of a tool hull 100 where it is met by a nut 123. The fulcrum108 can be connected and fastened in any method or combination ofmethods known in the art, including but not limited to, a tappedconnection, a welded connection, an adhesive connection and/or riveting.The fulcrum 108 can take on a variety of configurations and shapes thatallow the bodies 107 of a tool hull to be affixed to one another, aswell as act as a pivoting point for tools containing tool actuationlevers 109 as detailed below. In some embodiments, the fulcrum 108 isconfigured as a rod, while in other embodiments the fulcrum 108 isconfigured as a screw. In further embodiments, the fulcrum 108 isconfigured as a pin.

In addition to affixing the bodies of the tool hull 100, the fulcrum 108also constrains the tool actuation levers 109 in place and prevents thetool hull 100 from experiencing any torsional movements or deflection,while a tool is being utilized. Furthermore, in some embodiments thefulcrum 108 serves as a pivoting point for tools and/or instrumentscontaining a tool actuation lever or levers 109, such as scissors,needle driver or forceps. In some embodiments, the fulcrum 108 isfabricated out of any biocompatible metal that is capable of handlingthe stress and strain from the actuation of a tool. In otherembodiments, the fulcrum 108 is fabricated out of biocompatible plasticscapable of handling the stress and strain from the actuation of a tool.In alternative embodiments, the fulcrum 108 is constructed out ofbiocompatible ceramics such as aluminum oxide (Al₂O₃) and/or otherbiocompatible ceramics known by those in the field capable of handlingthe stress and strain from the actuation of a tool. In addition, indifferent embodiments the fulcrum 108 can be fabricated in any shapeknown in the art that is capable of serving as a pivoting point, whilebeing able to handle the strain and stress forces generated by theactuation of a tool and/or instrument.

In other embodiments, the fulcrum 108 is not required. In theseembodiments, the tool hull 100 may be fabricated as one solid body, thusrelieving any concern of separation. Alternatively, in embodiments wherethe tool or instrument is a static tool and does not contain a toolactuation lever 109 such as a cautery hook or single blade tool, nofulcrum 108 may be found, as no pivot point is required to actuateand/or utilize the tool. Alternatively, in additional embodimentsmultiple fulcrums 108 are found, with each tool actuation lever 109 of atool being operably coupled to a separate and distinct fulcrum 108. Inthese embodiments, an operator can pivot a tool actuation lever 109about a fulcrum 108 to a specific orientation without having to pivotthe other tool actuation lever 109 to the same orientation, thusproviding a tool that has levers that can be actuated independently ofthe other.

In addition, in some embodiments the device contains a plurality ofactuation channels 112 as illustrated in the embodiments shown in FIG.3B and FIG. 4D. Actuation channels 112 serve as a housing for theactuator 111 of the tool and/or instrument. FIG. 3C illustrates thelocation of the actuator 111 in one embodiment of the tool hull 100. Theactuator 111 can be any mechanical actuation component or combination ofcomponents known in the art such as a torsion spring, a leaf spring, acable or any other existing mechanical actuation component capable ofactuating a tool and/or instrument. The actuator 111 allows theuniversal grasper jaws to interact with tool actuation levers 109,resulting in a tool being capable of moving between multiple positions,such as a first, second and/or third position, with said positionsincluding but not limited to an open, partial open/closed positionand/or closed position. The actuator 111 provides a force on a toolactuation lever 109 when a universal grasper jaw presses upon saidlever, thus allowing the universal grasper jaw to maintain constantcontact with the lever while the tool is being utilized. Additionally,the actuator is configured to retain an energy from the force applied bythe jaw of a universal grasper when it presses on a lever, as well asconfigured to release the energy retained upon the lever duringactuation of a tool. In one embodiment, the actuator 111 is held in theactuation channel 112 by way of the tool actuation lever 109. In thisembodiment, the tool actuation lever 109 is positioned in such a waythat there is minimal space between the tool actuation lever 109 and theactuator 111 thus retaining the actuator 111 in the actuation channel112. In other embodiments, the actuator 111 is retained in the actuationchannel 112 via an adhesive connection and/or a welded connection.

In some embodiments actuation channels 112 are located on both the innerportions of the left and right bodies 107 of a tool hull 100, as well aslocated on the tool actuation levers 109 as depicted in the embodimentsshown in FIG. 3B and FIG. 4D. This embodiment is used for actuated toolsand/or instruments containing two tool actuation levers 109 with onelever having a first instrument component affixed to the distal end ofthe lever and the other lever having a second instrument componentaffixed to the distal end of the lever. In these embodiments, the firstinstrument component and the second instrument component combine to formthe tool, for example two blades for scissors or two needle driver jawsfor a needle driver. Other examples of such tools and/or instruments mayalso include but are not limited to, scissors, needle grasper, forceps,graspers, retractors, surgical stapler and/or caliper. In thisembodiment two actuators 111 are needed, one actuator 111 for the righttool actuation lever 109 and one for the left tool actuation lever 109.In this embodiment one end of an actuator 111 is contained in anactuation channel 112 of a tool actuation lever 109 and the other end ofthe actuator 111 is fed through the actuation channel 112 located on thebody of the tool hull 100. As such, in this embodiment the actuator 111that is contained in the actuation channel 112 of the left toolactuation lever 109 is fed into the actuation channel 112 located on theleft body 107 of the tool hull 100. The same method is used for theactuator 111 contained in the actuation channel 112 of the right toolactuation lever 109.

In other embodiments, only one actuation channel 112 is situated on oneof the bodies 107 of the tool hull 100 and only one actuation channel112 is found in one tool actuation lever 109. In this embodiment, thetool or instrument may contain only one actuated lever, with a firstinstrument component affixed to the distal end of said actuated lever,and a second instrument component of the tool being rigidly fixed to thetool hull 100. An example of such a tool may include but is not limitedto a surgical stapler or a vessel sealer. Furthermore, only one actuator111 may be found in this embodiment, as only one component of the tooland/or instrument may be capable of moving. In other embodiments, onecomponent of a tool may be moved by an actuator 111 and other movingcomponent of the tool may be mechanically coupled to the first movingcomponent such that only one tool actuation lever 109 is directlycoupled to the actuator 111, thus allowing for multiple tool actuationlevers 109 to be actuated by one actuator 111. The mechanical couplingmay be accomplished via gears, links and/or any other methods known inthe art.

Additionally, in alternative embodiments no actuation channels 112and/or actuators 111 may be found. In some embodiments, the tool and/orinstrument may not contain a tool actuation lever 109. In someembodiments, the tool may be rigidly affixed to the tool hull 100 andnot capable of moving in any direction, such as a cautery hook or ascalpel.

FIG. 4A-FIG. 4D show multiple views of one embodiment of a toolactuation lever 109. In one embodiment, the left and right toolactuation levers 109 can be interchanged, as they are identical butoriented symmetrically. In other embodiments, the left and right toolactuation levers 109 are not identical, as the right and left toolactuation levers 109 may differ in length and/or width. The toolactuation lever 109 serves multiple purposes as it contains an actuationchannel 112 which houses the actuator 111, is used to actuate a tooland/or instrument and acts as a support for a tool and/or instrument. Inaddition, affixed to the distal end of the tool actuation levers 109 arethe components of a tool or instrument. In some embodiments, the firstinstrument or tool component of a tool is affixed to the right toolactuation lever 109 and the second instrument or tool component of atool is affixed to the left tool actuation lever 109. In otherembodiments, the tool actuation levers 109 are mirrored such thataffixed to the right tool actuation lever 109 is the first instrumentcomponent of a tool and affixed to the left tool actuation lever 109 isthe second instrument component of a tool.

In one embodiment, a tool contains two tool actuation levers 109. Inthis embodiment located at one end of the tool actuation levers 109 isan aperture 110 in which the fulcrum 108 passes through, as shown by theillustrative embodiment in FIG. 21A. As stated above, in this embodimentthe fulcrum 108 acts as a pivot point for the tool and/or instrument,which allows the levers to pivot thus letting the tool and/or instrumentto move between a first and second position.

In some embodiments, located on the proximal end of the right and leftbodies 107 of the tool hull 100 are tool attachment pins or protrusions(“TAPs”) 102 as depicted in the embodiments shown in FIG. 2A-2D. TheTAPs 102, which are also referred to as second protrusions, interfacewith the jaws of the universal grasper 118 (FIG. 5 and FIG. 6). In someembodiments, this interface is effectuated via tool attachment pinchannels 113 located at proximal end of the universal grasper jaws andprevents the tool hull from separating from the universal grasper 118during actuation. FIG. 5 and FIG. 6 depict an illustrative embodiment ofthe universal grasper 118.

In one embodiment, each body 107 of the tool hull 100 contains two TAPs102 with one TAP 102 located above the other. In this embodiment, bothTAPs 102 are vertically aligned with each other. Additionally, in thisembodiment the TAPs 102 are separated by a vertical distance, which iscorrelated to the vertical distance between the tool attachment pinchannel 113 of the first grasper jaw 116 and the tool attachment pinchannel 113 of the second grasper jaw 117 (FIG. 5 and FIG. 6) when thejaws are in a fully open state. The vertical distance between the TAPs102 must be less than the vertical distance between the tool attachmentpin channels 113 on the grasper jaws, so as to allow the TAPs 102 toenter and couple with the tool attachment pin channels 113. In otherembodiments only one TAP 102 is located on each body 107 of the toolhull 100. In alternative embodiments, no TAPs 102 may be found. Thus, insome embodiments, anywhere from zero to four TAPs 102 may be found onthe proximal end of a tool hull 100. Furthermore, in other embodimentsmore than four TAPs 102 are located on proximal end of a tool hull 100.

In addition, in some embodiments, located at the proximal end of eachbody 107 of the tool hull 100 is a docking tab or first protrusion 103.FIG. 2B and FIG. 3A-3C depict embodiments of tool hulls 100 containingdocking tabs 103. In some embodiments, the docking tabs 103 are fed intothe universal grasper 118 when the grasper jaws are in an open positionand connect to their respective docking stations or openings 115 asdepicted in the embodiments shown in FIG. 15B and FIG. 16A. The dockingtabs or first protrusions 103 are used to connect the tool hull 100 tothe universal grasper 118 so as to prevent the tool hull 100 fromdetaching from the universal grasper 118. In addition, the docking tabs103 also prevent torsion and tilting and provide added stability to thetool hull 100 during actuation of a tool and/or instrument. The dockingtabs 103 can take on a variety of shapes and configurations in differentembodiments that allow them to connect and interface with the dockingstations 115 of the universal grasper 118. The connection can befashioned via any standard attachment method known to those in thefield. In some embodiments, the docking tabs 103 may be replaced by anumber of pins, which connect to a number of docking stations. In otherembodiments, a hook and loop latch connection may be used.

In alternative embodiments, docking tabs or first protrusions 103 areeliminated and replaced by magnets, electromagnets, press fits and/orany other method or combination of methods known in the art. In oneembodiment that utilizes a magnet or electromagnet in place of a dockingtab 103 to connect to the universal grasper 118, the need for TAPs 102is eliminated, as the force generated by the magnet or electromagnetconnection is sufficient to mate the tool hull 100 with the universalgrasper 118, and prevent the tool hull from separating from theuniversal grasper 118, as well as preventing the tool hull 100 fromtilting, twisting or deflecting during actuation. In this embodiment,the docking stations 115 consists of a ferromagnetic material or otherconductive material with a high permeability, such as iron, or nickel.In alternative embodiments, the docking tabs 103 may be fabricated outof ferromagnetic material and the electromagnet are located on thedocking stations 115. In these embodiments, the ferromagnetic materialand magnetic material have biocompatible coatings and/or platings,including but not limited to gold plating, rendering the material safefor insertion into a patient's body. However, in some embodiments thedocking tabs or first protrusions 103 are not eliminated, but areoutfitted with a magnetic contact and the docking stations or openings115 are outfitted with a corresponding magnetic contact. In theseembodiments, the magnetic contact located on the docking tabs 103 matesand contacts with the magnetic contact of the docking stations oropening 115 to constrain a tool hull to a universal grasper.

In an alternative embodiment, docking tabs or first protrusions 103 arecapable of conducting an electrical current from the universal grasper118. This embodiment allows a surgeon to utilize electrified tools suchas a cautery tool. In addition, this embodiment also allows forelectrical powered tools to be used. In one embodiment, docking tabs 103are constructed of a biocompatible material capable of conducting andtransferring an electrical current or power, such as surgical stainlesssteel. In this embodiment, the docking tabs 103 are appropriatelyinsolated such that they do not electrically short. In otherembodiments, the docking tabs 103 may contain an electrical conductivecontact on the proximal end that is capable of conducting electricityfrom a universal grasper 118. These embodiments allow an electricalcurrent or power to be transferred through the docking tabs 103 to atool, thus allowing the tool to be electrified. In alternativeembodiments, tools may be powered and actuated via the electricalcurrent or power that is transferred through the docking tabs 103. Thedocking tabs 103 and the electrical conductive contacts on the dockingtabs 103 in these embodiments are appropriately electrically isolatedsuch that no electrical short is experienced. In these embodiments, thedocking stations 115 detailed below, contain an electrical port whichthe electrical conductive contact on the docking tabs or firstprotrusions 103 mates with, allowing an electrical current or power tobe transferred from the universal grasper 118 to the tool. In theseembodiments, the walls of the docking stations 115 surrounding theelectrical ports are fabricated out of electrical insulation materialshaving a high surface resistivity such as polyimide, PEEK, acrylonitrilebutadiene styrene (ABS), rubber and/or any other material with a highsurface resistivity known in the art, thus preventing an electricalshort from occurring. In some embodiments, the electrical current orpower is routed to an electrical port via an insulated wire orconductor, a flexible printed circuit board (“FPCB”) and/or a printedcircuit board (“PCB”).

Additionally, in alternative embodiments, the electrical port also actsas a sensor notifying a surgeon and the robotic system when a tool isengaged and/or disengaged. In some embodiments, the surgeon is notifiedvia a PCB and/or FPCB when an electrical contact on a docking tab 103interfaces with an electrical port. In other embodiments, a sensor iscontained on the proximal end of the docking tabs 103 which notifies asurgeon and the robotic system when the docking tabs 103 connect and/ordisconnect from the docking station 115. In further embodiments, thedocking stations 115 contain a sensor, which notifies a surgeon and therobotic system when a tool is engaged and/or disengaged. A variety ofsensors could be used in different embodiments to detect engagement anddisengagement of a tool and/or the docking tabs 103, such as encoders,potentiometers, and/or any other sensors known to those in the field.

In alternative embodiments, the electrical port is configured totransmit electrical communication from the robotic arm to the tool,and/or from the tool to the robotic arm. In some embodiments, theelectrical communication is transmitted in analog format, while in otherembodiments the electrical communication is transmitted in digitalformat. In other embodiments, electrical contacts located on the jaws ofthe grasper and electrical contacts on the lever(s) of a tool are usedto transmit electrical communications from the robotic arm to a tool orfrom the tool to the robotic arm. Such electrical communication maycontain a variety of information and data including but not limited to,the status of a tool, force sensing data, engagement and disengagementstatuses, actuation commands, faults and/or position and orientationinformation of a tool and/or instrument.

Universal Grasper Design and Components

As mentioned above, the system allows a surgeon or operator to selectand interface with and change between different tools and/orinstruments. In order for a surgeon to switch between different toolsand/or instruments, a surgeon uses the universal grasper 118 to mate andcouple with a tool and/or instrument. The universal grasper 118 islocated at the distal end of an embodiment of the robotic arm 125 (FIG.1B) disclosed in International Patent Application No. PCT/US2015/029246(published as International Patent Publication No. WO2015171614A1). Anillustrative version of the robotic arm 125 utilized with the system isshown in FIG. 1B, and it should be appreciated that other roboticdevices can be utilized with the system. FIG. 6 shows an isometric viewof one embodiment of the universal grasper 118. The universal grasper118 is constructed to take on a variety of tool configurations indifferent embodiments.

In one embodiment, the universal grasper 118 is configured as a cauterytool, allowing a surgeon to perform cautery functions, while alsoallowing the surgeon to interchange between different tools if he or shedesires. In some embodiments where the universal grasper 118 isconfigured as a cautery tool, the universal grasper 118 uses themonopolar cauterization method, while in alternative embodiments theuniversal grasper 118 uses the bipolar cauterization method. Inembodiments where the universal grasper 118 is configured as a cauterytool the surgeon can activate and deactivate the electrical current orpower provided to the universal grasper jaw, thus allowing the grasperjaws to switch between an electrically charged state and an unchargedstate.

In some embodiments, the jaw and/or jaw portions of the universalgrasper are electrified to allow an electrical current or power to betransferred from the universal grasper to a tool and/or instrument. Insome embodiments, the universal grasper 118 is outfitted with electricalwires or conductors that are embedded in the body of the universalgrasper 118 as depicted in the illustrative embodiment shown in FIG. 38Aand FIG. 38B. In other embodiments, the electrical wires or conductors136 are routed along the body of the universal grasper 118 as depictedin the illustrative embodiment shown in FIG. 39A and FIG. 39B. Theelectrical wires 136 are routed from an electrical source, such as agenerator and/or a power supply, through the robotic arm to the jaws ofthe universal grasper 118. In some embodiments two electrical wires orconductors will be found, with one electrical wire 136 going to thefirst grasper jaw or jaw portion 116 and one electrical wire 136 goingto the second grasper jaw or jaw portion 117, as depicted by theillustrative embodiment shown in FIG. 40. In other embodiments oneelectrical wire 136 is found, with said electrical wire 136 being routedto either the first grasper jaw 116 or the second grasper jaw 117.Alternatively, in other embodiments more than two electrical wires orconductors 136 may be found. As the electrical wires 136 approach thejaws of the universal grasper 118, the wires are routed through wirerouting ingresses 139 found on the proximal side of electricalinsulators 135. FIG. 41 depicts an illustrative embodiment of theelectrified jaws, highlighting the routing path of the electrical wires136 through the wire routing ingresses 139, into the electricalinsulators 135. The wire routing ingresses 139 guide the appropriateelectrical wire 136 to either the first grasper jaw 116 or the secondgrasper jaw 117. FIG. 43 depicts an exploded isometric view of anillustrative embodiment of the electrified jaws, highlighting thelocation of the wire routing ingresses 139. Once the electrical wires136 pass through their respective electrical insulator 135, and entertheir respective jaw, the electrical wires 136 reach an electrical wiretermination site 137 (FIG. 40 and FIG. 41). In some embodiments both thefirst grasper jaw 116 and the second grasper jaw 117 contain anelectrical wire termination site 137, as depicted in the illustrativeembodiment shown in FIG. 42. At the electrical wire termination sites137 the electrical wires 136 terminate and the electrical current orelectrical power carried by the electrical wires or conductor 136 istransferred to the electrically conductive contact of the jaws of theuniversal grasper 118. In these embodiments, the electrical wires orconductors 136 are coupled to the electrically conductive contact on thejaws of the universal grasper 118. In one embodiment, the electricalwire 136 terminates by means of clamping the electrical wire 136 betweena rigid surface and a setscrew placed in a tapped hole at the electricalwire termination site 137. Alternatively, in other embodiments, theelectrical wires 136 may terminate using any appropriate means known inthe field such as a knot tied in the electrical wire 136, or by a crimpconnection.

As stated above, the electrical wires 136 pass through electricalinsulators 135 prior to reaching their respective termination site 137.The electrical insulators 135 insulate the electrical wires 136preventing an electrical short from occurring and reaching another partof the universal grasper 118. In some embodiments, the electricalinsulators 135 are constructed out of thermoplastic polymers such asABS, PEEK, polyimide, polyethylene. In other embodiments, the electricalinsulators 135 are constructed out of thermoplastic elastomers and/orthermoset plastics, including but not limited to Diallyl-phthalate(DAP), high-density polyethylene (HDPE), and/or anultra-high-molecular-weight polyethylene (UHMWPE). In other embodiments,the electrical insulators 135 have a composite polymer coating makingthem biocompatible.

In some embodiments, the electrical insulators 135 are situated on topof one another, with the top insulator insulating the electrical wire136 that is routed to the first grasper jaw 116 and the bottom insulatorinsulating the electrical wire 136 that is routed to the second grasperjaw 117 (FIG. 41). In this embodiment, as the first grasper jaw 116 andsecond grasper jaw 117 are actuated, each of the electrical insulators135 move with its respective jaw, thus allowing the jaws to maintaintheir electrified state while staying insulated (FIG. 42).

In some embodiments, each of the electrical insulators 135 arefabricated as two halves, with said halves surrounding the proximal endof the first grasper jaw 116 and the second grasper jaw 117, such thatthe jaws are insulated and secluded from the other components of theuniversal grasper, as depicted in the illustrative embodiment shown inFIG. 43. FIG. 44 shows an enlarged exploded view of an illustrativeembodiment of the electrical insulators 135, displaying the location ofthe electrical insulators 135 in relation to the jaws of the universalgrasper. In these embodiments, the two halves of the electricalinsulators 135 are affixed to each other by a press-fit connection. Inother embodiments, the halves are affixed to each other by a thermo-weldconnection, adhesive connection and/or any other combination or methodknown in the field.

In some embodiments, the electrical insulators 135 are enclosed by anelectrical insulator sheathing 138. FIG. 45 shows an enlarged explodedrear view of an illustrative embodiment of electrified jaws of theuniversal grasper, highlighting the locations of the electricalsheathings 138 in relation to the jaws of the universal grasper and theelectrical insulators 135. The electrical insulator sheathing 138comprises an aperture, with said aperture having a shape compatible tothe shape of the electrical insulator 135, such that the sheathing 138surrounds the insulator 135, as depicted by the illustrative embodimentshown in FIG. 46.

In some embodiments, the universal grasper 118 contains a top electricalinsulator sheathing 138 and a bottom electrical sheathing 138 with boththe bottom and top sheathing containing two halves, one half for boththe left and right side of the universal grasper 118, with thecorresponding sheathings 138 coupling to each other by a pin connection,as displayed in the illustrative embodiment shown in FIG. 46.Alternatively, in other embodiments the electrical insulator sheathings138 are affixed to each other by any means known in the field, such as awelded connection, adhesive connection and/or a snap fit connection. Inother embodiments, only one jaw of the universal grasper 118 iselectrified, thus only one electrical insulator 135 is found and onlyone electrical insulator sheathing 138 is found. In some embodiments,the electrical insulator sheathing 138 is fabricated out ofbiocompatible electrically insulated material known in the art such asthermoplastic polymers such as ABS, PEEK, polyimide, and/orpolyethylene. In other embodiments, the electrical insulator sheathing138 is constructed out of thermoplastic elastomers and/or thermosetplastics, including but not limited to Diallyl-phthalate (DAP),high-density polyethylene (HDPE), and/or a ultra-high-molecular-weightpolyethylene (UHMWPE). In other embodiments, the electrical insulatorsheathing 138 is constructed out of non-insulated biocompatiblematerials known in the field, including but not limited to biocompatiblemetals such as surgical stainless steel, biocompatible ceramics such asaluminum oxide, and/or any other existing biocompatible materials.

In further embodiments, the body of the universal grasper is configuredto act as an electrical insulator. In some of these embodiments the bodyof the universal grasper is constructed out of biocompatibleelectrically insulated materials known in the art such as thermoplasticpolymers including but not limited to ABS, PEEK, polyimide, and/orpolyethylene. In other embodiments, the body of the universal grasper isfabricated out of thermoplastic elastomers and/or thermoset plastics,including but not limited to Diallyl-phthalate (DAP), high-densitypolyethylene (HDPE), and/or an ultra-high-molecular-weight polyethylene(UHMWPE).

Additionally, in some embodiments where a universal grasper 118 isconfigured to have electrified jaws, such as where the universal grasper118 is configured as a bipolar cautery tool, an electrically actuatedtool can be coupled to the universal grasper 118. In these embodimentsan electrical current or electrical power passes through the grasperjaws to the tool, allowing the tool to be actuated. FIG. 47A and FIG.47B shows an illustrative embodiment of an electrically actuated drill140. The electrically actuated tools are insulated from main body of theuniversal grasper to prevent any other part of a robotic arm fromreceiving any electrical charge. In some embodiments, the tool hull ofthe electrically actuated tool has electrical contacts 141, as depictedin the illustrative embodiment shown in FIG. 47C. In these embodiments,the electrical current or electrical power is transferred from theuniversal grasper jaw to electrical contacts 141 on the tool hull 100.In this embodiment, the jaws of the universal grasper 118 are outfittedwith an electrically conductive contact portion at the distal end of thejaw portions, the electrically conductive contacts are coupled to anelectrical conductor or electrical wire so that an electrical current istransferred from a power supply to said conductive contacts on the jawportions. When the universal grasper jaws contacts with the electricalcontact on the tool hull 100 the electrical current from the universalgrasper jaws is transferred to the electrical contact located on thetool hull 100, as depicted in the illustrative embodiment shown in FIG.48A and FIG. 48B. In some embodiments, the electrical current isdirectly routed to the electrically actuated tool via an insulated wirethat is imbedded in the tool hull 100. In other embodiments, theimbedded insulated wire (not shown) runs from the electrical contact onthe tool hull 100 to an electrical actuator housing 143 which stores theelectrical actuator (not shown) of the tool, as depicted in theillustrative embodiment shown in FIG. 47D and FIG. 47E. The electricallyactuated tools may contain a variety of electrical actuators, includingbut not limited to servomotors, linear motors, motors and gear trainsand/or any other method or combination of methods known in the field. Inother embodiments, the insulated wire is not imbedded in the tool hull100 but instead routed along the body of the tool hull 100. Theelectrical current transferred from the jaw of the universal grasperprovides power to actuate the instrument of the tool such as drill bit142, as shown in the illustrative embodiment depicted in FIG. 47A-47E.The instrument of the electrically actuated tools can take on a varietyof configurations, including but not limited to micro-saws, bone mills,reaming instruments, and/or other surgical power tools and/orinstruments known in the field. In other embodiments, the tool actuationlevers 109 of the tool contain electrical contacts that interface withthe universal grasper to electrify the instrument of the tool, whileallowing the jaw of the universal grasper to actuate the tool.

In further embodiments, where the tool is a static tool, and does notcontain an electrical actuator, such as a cautery hook, an electricalwire is routed from the electrical contact directly to instrument of thetool itself, thereby allowing the instrument of the tool to beelectrified. In these embodiments, the electrical wire is insulated toprevent an electrical short from occurring. In other embodiments, theelectrical wire is removed, as the housing of the tool is constructed ofelectrical insulation materials having a high surface resistivity, suchas polyimide, PEEK, ABS, rubber or any other materials having a highsurface resistivity that are known in the art, thus preventing anelectrical short from occurring. In these embodiments, the electrifiedjaws of the universal grasper contact the electrical contact of the tooldirectly, thereby allowing an electrical current to be transferred tothe instrument of the tool directly, without the need for the electricalwire to transfer the electrical current to the instrument. In theseembodiments, the instruments are constructed out of electricallyconductive materials that are biocompatible, such as surgical steel,aluminum and/or any other biocompatible electrically conductivematerials known in the art.

In some embodiments, the universal grasper 118 consists of a firstgrasper jaw or jaw portion 116 and a second grasper jaw or jaw portion117. In one embodiment the first grasper jaw 116 and the second grasperjaw 117 move in concert with each other, which in turn causes the toolactuation levers 109 of a tool to move in unison. In an alternativeembodiment, the first grasper jaw 116 and the second grasper jaw 117 arecapable of moving independently of each other, thus allowing a tool withtwo tool actuation levers 109 to have independently moving toolactuation levers 109. This embodiment allows a surgeon to more preciselycontrol the actuation of a tool, and provides the surgeon with an addeddegree of freedom.

In addition, in some embodiments, the jaw of the grasper 118 containsposition sensors. In these embodiments, the position sensors are used toaccurately measure the position and orientation of the jaws of thegrasper. In some embodiments, the first grasper jaw 116 and the secondgrasper jaw 117 both contain position sensors, which allows the user toknow the location of each jaw or jaw portion. In other embodiments, oneof either the first grasper jaw 116 and the second grasper jaw 117contains a position sensor. Additionally, in alternative embodiments, aposition sensor is located on the body of the grasper 118. A variety ofposition sensors may be used in different embodiments, including but notlimited to, hall-effect sensors, optical encoders, resistive positionsensors, and/or any other standard means of measuring position orcombination thereof. In addition, in some embodiments, the jaw or jawportions of the grasper contain force sensors, as disclosed inInternational Patent Application No. PCT/US2015/029246. The forcesensors detect the force being applied to the levers of a tool by thejaw or jaw portions of the grasper. In some of these embodiments, straingauges are strategically placed on the grasper housing, while in otherembodiments strain gauges are located on the jaw of the grasper. Infurther embodiments, force sensors may be placed on the lever of a tool.Standard technique may be used to acquire information and calculate thestrain and grasper forces.

In some embodiments first grasper jaw or jaw portion 116 and the secondgrasper jaw or jaw portion 117 each contain engaging surfaces 119, whichcan take on an abundance of configurations. In one embodiment, theengaging surface 119 is comprised of rigid teeth (FIG. 6) which arelocated in the center of the engaging surface 119 and transverse fromthe top to bottom of the jaw. In other embodiments, the engaging surface119 may be comprised of a textured surface or a smooth surface. Infurther embodiments, the first grasper jaw 116 and the second grasperjaw contain engaging surfaces 119 that have different configurations.The engaging surfaces 119 located on the universal grasper jaws allow asurgeon to grasp and manipulate tissues during an operation when a toolis not attached.

Notwithstanding the configuration of the engaging surface 119 of theuniversal grasper 118, in some embodiments located on both sides ofengaging surface 119 of the jaws are actuation mating surfaces 114 (FIG.6) which run from the proximal end of the jaws to the distal end of thejaws. In some embodiments, the actuation mating surfaces 114 arefabricated to be free from perceptible projections, lumps, orindentations, thus allowing the tool actuation levers to move along thesurface. The actuation mating surfaces 114 serve a vital function duringmating with the tool hull 100 as the tool actuation levers 109 slidealong the actuation mating surfaces 114 as illustrated in FIG. 12B andFIG. 12C. In addition, the tool actuation levers 109 sit upon and slidealong the actuation mating surfaces 114 when the tool is being actuatedas shown in the sequential images of FIG. 14A, FIG. 14B and FIG. 14C.

In some embodiments located at the proximal end of the first grasper jaw116 and the second grasper jaw 117 directly behind the actuation matingsurfaces 114 on both the right and left side of the engaging surfaces119 of the jaws are tool attachment pin channels 113 (FIG. 5 and FIG.6). During mating between the tool hull 100 and the universal grasper118, TAP(s) 102 of the tool hull 100 are captured and retained in thetool attachment pin channels 113 (FIG. 11). The tool attachment pinchannels 113 are constructed to be wide enough to allow a TAP 102 tomove up and down within the channel during the actuation of a tool. Thelength of the tool attachment pin channels is designed to beproportional to the size of the universal grasper jaws such that theTAPs 102 are located outside of the tool attachment pin channels 113when the universal grasper jaws are in a fully open position. Thevertical distance between the tool attachment pin channels 113 iscorrelated to the vertical distance between the TAPs 102 with thevertical distance between the tool attachment pin channels 113 beinggreater than the vertical distance between the TAPs 102 when theuniversal grasper jaws are in a fully open state, thus allowing the TAPs102 to enter and mate with the channels.

As the universal grasper jaws or jaw portions move from an open positionto a closed position, the TAPs 102 are forced into the tool attachmentpin channel 113 and ride along the distal portion of the channels untilthe TAPs reach the end of the tool attachment pin channel 113 at whichpoint the universal grasper jaws are in a fully closed position (FIG.13C). Thus, as the universal grasper jaws move from an open state to aclosed state, the universal grasper jaws capture and retain the tool viathe TAPs 102 as they are forced further into the tool attachment pinchannels 113. This movement sequence is shown in FIG. 13A, FIG. 13B andFIG. 13C. FIG. 13A depicts the location of the TAPs 102 prior toengagement with the tool attachment pin channels 113 according to oneembodiment. As illustrated in the embodiment shown in FIG. 13A, the TAPs102 are situated inside the opening of the universal grasper jawshowever are not encompassed in the tool attachment pin channels 113.FIG. 13B depicts the point of engagement where the TAPs 102 enter thetool attachment pin channels 113 according to one embodiment. Inaddition, FIG. 13B also illustrates the start of the available range ofmotion the universal grasper jaws are afforded in one embodiment. FIG.13C depicts the location of the TAPs 102 in the tool attachment pinchannels 113 in one embodiment when the universal grasper 118 is in aclosed state, which is the extent of its range of motion.

As the grasper jaws move from a fully closed position to a fully openposition, the TAPs 102 move from the end of the tool attachment pinchannel 113 riding along the distal portion of the channel until theTAPs 102 are disengaged from the tool attachment pin channels 113 atwhich point the universal grasper jaws have reached a fully openposition (FIG. 13A).

The TAP connection prevents separation between the tool hull 100 and theuniversal grasper 118, as well as provides a retaining force to thedocking tabs 103, which constrains the docking tabs 103 in dockingstation 115. Additionally, this connection provides a surface for thegrasper jaws to ride on during actuation, helping to prevent anytorsion, or deflection to occur during use.

As mentioned above, in some embodiments located at the distal end of themain body of the universal grasper 118 on both the left and right sideof the universal grasper jaws are docking stations 115 (FIG. 6). Thedocking stations 115 are pockets, which in one embodiment are located onthe inside of the main grasper body of the universal grasper 118. Inother embodiments, the docking stations 115 may be located on theoutside of the main grasper body of the universal grasper 118.

During mating between the tool hull 100 and the universal grasper 118,the docking tabs 103 of the tool hull 100 are inserted into theirrespective docking stations 115. This connection prevents any separationbetween the tool hull 100 and the universal grasper 118. In addition,this connection helps to prevent the tool hull 100 and tool fromexperiencing tilting, torsion or deflection as well as adds stability tothe overall device and system. Moreover, this attachment constrains thetool hull 100 in five degrees of freedom, two translation axes-heave(up/down) and sway (left/right)—and three orientation axes, pitch, rolland yaw. The last and sixth degree of freedom, surge (forward/backward),is constrained by the TAPs. FIG. 15A, FIG. 15B, FIG. 16A and FIG. 16Bshow the coupling sequence of the docking tabs 103 with their respectivedocking stations 115.

In other embodiments, a magnetic connection is used to retain thedocking tabs 102 in their respective docking stations 115. The magneticconnection in these embodiments constrains the tool hull 100 in all sixdegrees of freedom. As stated above, in these embodiments the dockingtabs 102 are constructed with magnetic or electromagnetic material, andthe docking stations 115 are constructed of a conductive material with ahigh permeability. In alternative embodiments, the docking tabs 103 areretained in the docking stations 115 with the connection fashioned viaany standard mechanical attachment method known to those in the fieldsuch as a spline, press-fit, snap fit and/or any other existingattachment means that allows for attachment and detachment.

Actuation and Attachment

In some embodiments, to attach a tool to the universal grasper 118 asurgeon maneuvers the robotic arm in position behind the proximal end ofthe tool. The universal grasper 118 must have the same orientation asthe tool hull 100 of the tool for which the surgeon is to connect with.The universal grasper 118 must be aligned with the tool hull 100 in sucha way to ensure that all mating components of the tool hull 100 areparallel to their respective docking components on the universal grasper118. Thus, a tool is capable of mating with a universal grasper 118 inany orientation as long as the universal grasper 118 is located behindthe proximal end of the tool hull 100 and its mating components arealigned with their respective docking components of the universalgrasper 118. The universal grasper 118 on the robotic arm disclosed inInternational Patent Application No. PCT/US2015/029246, is capable ofmoving in six degrees of freedom, which allows a surgeon to maneuver auniversal grasper 118 into a position and orientation that is harmoniouswith the position and orientation of the tool hull 100.

Prior to attachment the universal grasper jaws are in an open state. Theopening of the universal grasper jaws is wide enough to allow the TAPs102 of a tool hull 100 to move through the opening of the universalgrasper jaws and mate with the tool attachment pin channels 113. FIG. 7Aand FIG. 7B depict the position of the jaws of a universal grasper 118prior to mating with a tool according to one embodiment. As a surgeonmoves the universal grasper 118 towards the tool hull 100 of a tool, thedocking tabs 103 begin to enter their corresponding docking stations115. FIG. 8A and FIG. 8B depict the position of the jaws of a universalgrasper 118 once docking tabs 103 have entered their docking stations115 according to one embodiment. The docking tabs 103 mate such that thetool is constrained to move only in the direction in which they matedwith the universal grasper 118. This mating sequence is shown in FIG.15A, FIG. 15B, FIG. 16A, and FIG. 16B.

Once the tool hull 100 is seated against the universal grasper 118 withthe docking tabs 103 situated in the docking stations 115, the TAPs 102of the tool hull 100 will be situated within the opening of the grasperjaws outside of the tool attachment pin channels 113 as depicted in theembodiments shown in FIG. 13A and FIG. 9. The surgeon then closes theuniversal grasper jaws slightly causing the universal grasper jaws tomake contact with the TAPs 102. The force from the universal grasperjaws acting on the TAPs 102 causes the TAPs 102 to engage with the toolattachment pin channels 113 as seen in the embodiments illustrated inFIG. 13A and FIG. 13B. Only a small motion is required to engage theTAPs 102, thus allowing the surgeon to retain almost full motion of theuniversal grasper jaws without disengaging the TAPs 102. With the TAPs102 engaged, the universal grasper 118 and the tool hull 100 are matedand constrained in all degrees of freedom. FIG. 10A and FIG. 10B showthe orientation and position of a tool and a universal grasper 118 oncecompleted mated according to one embodiment.

Once a tool has mated with a universal grasper 118, the surgeon is readyto utilize said tool. In some embodiments, a tool contains two toolactuation levers 109. During actuation, the tool actuation levers 109slide along actuation mating surfaces 114. In this embodiment, as theuniversal grasper jaws move towards a closed position, the jaws makecontact with the tool actuation levers 109. A force is exerted upon thetool actuation levers 109 when the universal grasper jaws make contactwith the levers. The force applied by the universal grasper jaws cause amotion resulting in the tool actuation levers 109 sliding upon theactuation mating surfaces 114. In addition, the force exerted by theuniversal grasper jaws upon the tool actuation levers 109 causes thelevers to pivot about an axis. As the tool actuation levers 109 pivotthey slide upon the actuation mating surfaces 114 causing the tool tomove between a first and second position, such as an open and closedposition. FIG. 12A depicts the position of the tool actuation leverswhen a tool is attached to a universal grasper 118 and the universalgrasper jaws are in a closed stated. The force applied by the universalgrasper jaws is captured and retained by the actuator 111 contained inthe actuation channels 112. As the surgeon moves the universal grasperjaws from a closed state towards an open state, the force retained bythe actuator 111 is transferred back upon the tool actuation levers 109causing the levers to slide upon the actuation mating surface 114resulting in the tool returning to its first position. This actuationmotion is shown in sequence in FIG. 14A, FIG. 14B and FIG. 14C.

In one embodiment, a tool is actively actuated when the tool is movingtowards a first position, such as a closed position, and passivelyactuated when moving towards a second position via an actuator 111, suchas an open position. In alternative embodiments tools are passivelyactuated towards a first position and actively actuated towards a secondposition. Furthermore, in some embodiments a tool contains only one toolactuation lever 109. In such embodiments, the tool can be actuated inthe same manner as a tool containing two tool actuation levers 109.

Additionally, in other embodiments tools can be actively actuatedtowards a first and second position. In one embodiment, both the leftand right tool actuation levers 109 are outfitted with an actuationlever nub or projection 133, which is located on the proximal end of thetool actuation levers 109. FIG. 32 shows an illustrative embodiment oftool actuation levers 109 with actuation lever nubs or projections 133.In one embodiment, the actuation lever nubs 133 are fabricated as partof the tool actuation lever 109 so as to be one solid part. In otherembodiments, the actuation lever nubs 133 are affixed to the toolactuation levers 109. This connection is fashioned via any standardattachment means known to those in the field such as a press-fit, glue,weld, and/or any other existing techniques. FIG. 33 illustrates anexemplary embodiment of a tool with actuation lever nubs 133. Theactuation lever nubs or projections 133 are constructed out ofbiocompatible materials known to those in the field, including but notlimited to biocompatible metals such as surgical stainless steel,biocompatible plastics such as PEEK, biocompatible ceramics such asaluminum oxide, and/or any other existing biocompatible materials. Inaddition, in alternative embodiments the actuation lever nubs 133 cantake on any configuration and shape capable of handling the forceapplied to it via the universal grasper jaws, while still allowing theactuation lever nubs 133 to move along the top surface of said universalgrasper jaws.

In one embodiment, the first grasper jaw 116 and the second grasper jaw117 of the universal grasper 118 contain actuation lever nub channels orforce-open channels 134. FIG. 34A shows a left profile view of anillustrative embodiment of the universal grasper 118 depicting thelocation of the actuation lever nub channel 134 on the first grasper jaw116 in said embodiment. FIG. 34B shows a right profile view of anillustrative embodiment of the universal grasper 118 depicting thelocation of the actuation lever nub channel or force-open channel 134 onthe second grasper jaw 117 in said embodiment. As depicted in theillustrative embodiment shown in FIG. 34A and FIG. 34B, the actuationlever nub channels 134 are located distal to the tool actuation pinchannels 113.

In some embodiments, an actuation lever nub channel 134 is located onthe left side of the first grasper jaw 116 and an actuation lever nubchannel 134 is located on the right side of the second grasper jaw 117.In this embodiment, an actuation lever nub 133 is located on left toolactuation lever 109 with the actuation lever nub 133 protruding to theright, with a first instrument component affixed to said tool actuationlever 109. In addition, in this embodiment an actuation lever nub 133 islocated on the right tool actuation lever 109 with the actuation levernub 133 protruding to the left, with a second instrument componentaffixed to said tool actuation lever 109.

In other embodiments, the orientation of the actuation lever nubchannels or force-open channels 134 and the orientation of the actuationlever nubs or projections 133 are mirrored. In one embodiment, anactuation lever nub channel 134 is located on the right side of thefirst grasper jaw 116 and an actuation lever nub channel 134 is locatedon the left side of the second grasper jaw 117. In this embodiment, anactuation lever nub 133 is located on right tool actuation lever 109with the actuation lever nub 133 protruding to the left, with a firstinstrument component affixed to said tool actuation lever 109.Additionally, in this embodiment an actuation lever nub 133 is locatedon the left tool actuation lever 109 with the actuation lever nub 133protruding to the right with a second instrument component affixed tosaid tool actuation lever 109.

In further embodiments only one actuation lever nub channel orforce-open channel 134 is found on a universal grasper 118. In oneembodiment, an actuation lever nub channel 134 is located on the leftside of the first grasper jaw 116 and mates with an actuation lever nub133 located on the left tool actuation lever 109 of a tool, with abottom or first instrument component affixed to said lever. In anotherembodiment, an actuation lever nub channel 134 is located on the leftside of the first grasper jaw 116 and mates with an actuation lever nub133 located on the right tool actuation lever 109 of a tool, with abottom or first instrument component affixed to said lever. In theseembodiments, the top or second instrument component of the tool isstatic, with the bottom or first instrument component of the tool beingaffixed to a lever that is actuated.

In additional embodiments only one actuation lever nub channel orforce-open channel 134 is found on the second grasper jaw 117 of auniversal grasper 118. In one embodiment, an actuation lever nub channel134 is located on the left side of the second grasper jaw 118 and mateswith an actuation lever nub 133 located on the right tool actuationlever 109 of a tool, with a tope or second instrument component affixedto said lever. In another embodiment, an actuation lever nub channel 134is located on the right side of the second grasper jaw 118 and mateswith an actuation lever nub 133 located on the left tool actuation lever109 of a tool, with a top or second instrument component affixed to saidlever. In these embodiments, the bottom or first instrument component ofthe tool is static, with the top or second instrument component of thetool being affixed to a lever that is actuated.

FIG. 35A shows a cut away view of an illustrative embodiment of a toolorientated in a mating state. As shown in FIG. 35A, the tool is in aclosed state, resulting in the left and right tool actuation levers 109being parallel to one and other. In addition, as illustrated in FIG.35A, during mating the jaws of the universal grasper 118 are in an openstate. With the tool hull mated with the universal grasper 118 asdetailed above, the actuation lever nubs 133 are aligned with theirrespective actuation lever nub channels 134, as depicted in theexemplary embodiment in FIG. 36A. With the actuation lever nubs orprojections 133 aligned with the actuation lever nub channels orforce-open channels 134 the jaws of the universal grasper move to aclosed state. As the jaws of the universal grasper 118 move towards aclosed state, the actuation lever nubs 133 enter their respectiveactuation lever nub channels 134. The actuation lever nub channels orforce-open channels 134 are curved to provide the actuation lever nubsor projections 133 with clearance to pass through the channel duringmating. FIG. 35B shows a cut away view of an illustrative tool in oneembodiment, once a universal grasper has reached a closed state duringmating. As depicted in FIG. 35B when the universal grasper 118 hasreached a closed state, the actuation lever nubs 133 have passed throughtheir respective actuation lever nub channels 134 and are situatedoutside of said channels. This mating sequence is depicted in FIG. 36Aand FIG. 36B. In addition, as the universal grasper 118 reaches a closedstate, the jaws make contact with the tool actuation levers 109, withsaid levers resting on the actuation mating surfaces 114 of theuniversal grasper jaws. When the jaws make contact with the toolactuation levers 109, a force is applied on the tool actuation levers109 by the jaws. The force applied by the jaws is retained by anactuator 111, as detailed above.

With the actuation lever nubs 134 located outside of their respectiveactuation lever nub channels 134, and the tool actuation levers restingon the actuation mating surfaces 114, the tool has been fully mated withthe universal grasper 118 and now is ready to be utilized. As the jawsof the universal grasper 118 move from a closed state to an open state,the force retained by the actuator 111 is transferred back upon the toolactuation levers 109 causing the levers to slide upon the actuationmating surfaces 114. As the tool actuation levers 109 slide upon theactuation mating surfaces 114 the force provided by the actuator 111causes the tool actuation levers 109 to maintain contact with theactuation mating surfaces 114 of the universal grasper 118. As the toolactuation levers 109 slide upon the actuation mating surfaces 114, theactuation lever nubs 133 pass over the top surface of the jaws of theuniversal grasper 118. The force transferred back upon the toolactuation levers 109 by the actuator 111 allows the actuation lever nubs133 to maintain a clearance above the actuation lever nub channels 134so that as the jaws of the universal grasper 118 move from a closedstate to an open state the actuation lever nubs 133 pass over the topsurface of the jaws of the universal grasper 118 and do not re-enter theactuation lever nub channels 134 while the tool is being actuated. If aresistance force is exerted upon the tool as it is returning to a firstposition, the top surface of the jaws of the universal grasper 118 willcontact the actuation lever nubs or projections 133, and exert a forceupon said nubs, causing the nubs to slide upon the top surface of thejaws of the universal grasper 118. Thus, as the universal grasper 118move towards an open state the force applied on the actuation lever nubs133 cause said nubs to stay in contact with the universal grasper 118resulting in the tool being actively actuated to a first position. Thisactuation motion is shown in sequence in FIG. 37A and FIG. 37B.

In order to detach a tool containing tool actuation levers 109 withactuation lever nubs 133, the tool must be orientated in a closed state,thus allowing the actuation lever nubs 133 to be located outside of theactuation lever nub channels 134. In one embodiment, this isaccomplished by having the tool engagement mechanism 129 of anintroducer 126 clamp on the components of the tool, thus constrainingthe tool from moving. In an alternative embodiment, the tool is insertedinto a storage slot of a tool rack, which constrains the tool frommoving. With the tool constrained in a closed position, and theactuation lever nubs 133 located outside of the actuation lever nubchannels 134, the jaws of the universal grasper 118 are moved to an openposition. As the jaws of the universal grasper 118 move towards an openposition the actuation lever nubs 133 pass through and exit theactuation lever nub channels 134. With the jaws of the universal grasper118 in a fully open state the actuation lever nubs or projections 133have passed through and exited the actuation lever nub channels orforce-open channels 134, the surgeon then either pulls the introduceraway from the tool hull or tool housing 100, separating the docking tabsor first protrusions 103 from the docking stations or openings 115 ofthe universal grasper 118, or pulls the universal grasper 118 away fromthe tool hull 100, releasing the docking tabs 103 from the dockingstations 115.

In alternative embodiments, the coupling between the tool hull 100 andthe universal grasper 118 detailed above is inverted. As seen in FIGS.52A-52B, in some embodiments, the jaws of the universal grasper 118 arefabricated with attachment pins 146 located on the proximal end of thejaws, with said attachment pins 146 protruding from the sides of thefirst grasper jaw or jaw portion 116 and from the sides of secondgrasper jaw or jaw portion 117. In other embodiments, the attachmentpins 146 are located on the distal end of the jaws of the universalgrasper 118. In these embodiments, on the inner surface of the tool hull100 are channels which are configured to allow the attachment pins 146from the first grasper jaw 116 and the second grasper jaw 117 to enterand mate with. In addition, in some of these embodiments, the body ofthe universal grasper 118 is outfitted with docking tabs (not shown)which protrude from both sides of the body of the universal grasper 118.In these embodiments, the tool hull 100 contains ports which areconfigured to allow the docking tabs of the universal grasper 118 toenter and mate, thus coupling the tool hull 100 and universal grasper118. The aforementioned docking connection and attachment pin connectionwork in conjunction, so that the tool hull 100 is constrained in allaxes relative to the universal grasper 118.

In further embodiments, only the docking connection is inverted. Inthese embodiments, the body of the universal grasper 118 is fabricatedto contain docking tabs (not shown) which protrude from both sides ofsaid body, and the tool hull 100 is fabricated to contain ports whichare configured to allow the docking tabs from the universal grasper 118to enter and mate with. In these embodiments, the jaws of the universalgrasper 118 contain tool attachment pin channels 113 which areconfigured to mate with TAPs or second protrusions 102 located on theinner surface of the tool hull 100 as detailed above. In otherembodiments, only the pin connection is inverted. In these embodiments,the jaws of the universal grasper 118 are fabricated to containattachment pins 146 (FIG. 52A) that protrude from the sides of the firstgrasper jaw 116 and the second grasper jaw 117. In these embodiments,the tool hull 100 is fabricated to contain channels on the inner surfaceof said hull, with said channels configured to allow the attachment pins146 of the jaws of the universal grasper 118 to enter and mate with.

In alternative embodiments, the attachment pins 146 of the jaws of theuniversal grasper 118 are configured to mate with attachment pinchannels 147 located on the levers 148 of a tool 152. FIG. 53A, shows anexemplary embodiment of a tool 152 containing attachment pin channels147. In some embodiments, tool 152 is configured as scissors, while inother embodiments the tool 152 can take on a variety of configurations,including but not limited to needle drivers, forceps, grasper,retractor, surgical stapler, vessel sealer, cautery pin, or caliper.

In some embodiments, the attachment pins 146 are located on the distalend of the jaws, while in other embodiments the attachment pins 146 arelocated on the proximal end of the jaws of the universal grasper 118(FIG. 52A). In these embodiments, the levers 148 of the tool 152 arefabricated to contain attachment appendages 149 (FIGS. 53A-53B), whichare utilized to mate and couple the universal grasper 118 and the tool152. The attachment appendages 149 are configured to contain side walls150 that define attachment pin channels 147. In these embodiments, theattachment pin channels 147 are configured to allow the attachment pins146 from the jaws of the universal grasper 118 to enter and mate with.In addition, in these embodiments, the attachment pin channels 147 areconfigured to have rounded edges and/or chamfered edges at the opening,such that the attachment pins 146 can slide into said channels withease, as well as allowing said pins to enter said channels when theattachment pins 146 are not completely aligned with the attachment pinchannels 147.

As shown in FIG. 53B the side walls 150 of the attachment appendages 149protrude from the proximal end of the levers 148, with each side wall150 containing an attachment pin channel 147. As shown in FIGS. 53C-53D,the attachment pin channels 147 are configured to be curved in shape,with the curvature of said channels configured to allow the attachmentpins 146 of the jaws of the universal grasper 118 to enter when the tool152 is in a closed state, and retain the attachment pins 146 when thetool 152 is actuated. In these embodiments, located on the inner surfaceof the levers 148 are actuation channels 112, which are configured tohouse the actuator 111 of the tool 152 (FIGS. 54A-54B). As detailedabove, the actuator 111 can be any mechanical actuation component orcombination of components known in the art such as a torsion spring, aleaf spring, a cable or any other mechanical actuation component orcombination of components known in the art capable of actuating a tooland/or instrument. The actuator 111 allows the jaws of the universalgrasper 118 to interact with the levers 148 of the tool 152, resultingin said tool being capable of being manipulated from a first positionand second position, including but not limited to an open and closedposition. The actuator 111 is operably connected to both levers 148 ofthe tool 152, with said actuator 111 siting within the actuationchannels 112 of both levers 148. The actuator 111 is configured to applya force upon the attachment appendages 149 such that the attachment pins146 of the jaws of the universal grasper 118 are retained in theattachment pin channels 147 as the levers 148 of the tool 152 and thejaws of the universal grasper 118 move towards an open position. Inthese embodiments, as the jaws of the universal grasper 118 initiallymove from a partially closed position towards an open position, theactuator 111 applies a force upon the levers 148 causing said levers tomaintain contact with the pins on the jaws of the grasper. As the levers148 move towards an open position, the attachment appendages 149 and theattachment channels 147 rotate with said levers 148, and the jaws of theuniversal grasper 118 rotate about a separate path. The diversionbetween the path defined by the channel 147 of the levers 148 and thepath of rotation of the jaws of the universal grasper 118, is such that,the attachment pins 146 of the jaws of the universal grasper 118 contactthe walls of the attachment pin channels 147 of the levers 148 causingthe attachment pins 146 to be retained within said channels. Thisactuation sequence is shown in FIGS. 56A-56C.

As mentioned above, in order for the attachment pins 146 of the jaws ofthe universal grasper 118 to engage and enter their respectiveattachment pin channels 147, the tool 152 and the levers 148 of saidtool must be in a closed position, as depicted in FIG. 55A. As depictedby the sequence shown in FIG. 55A-55C, with the levers 148 of the tool152 in a closed position, as the jaws of the universal grasper 118 movefrom an open position towards a closed position, the attachment pins 146of the jaws of the universal grasper 118 are forced into the attachmentpin channels 147, with said channels guiding the attachment pins 146until said pins reach the end of the channels 147, at which point thejaws of the universal grasper 118 and the tool 152 are coupled. As shownin FIG. 55C, when the attachment pins 146 have reached the end of theirrespective attachment pin channel 147, there is a degree of separationbetween the first jaw 116 and the second jaw 117, this separationensures that the pins 146 constantly apply a force upon the channels147. As the jaws of the universal grasper move towards an open state,the attachment pins 146 are retained in the attachment pin channels 147.During actuation of the tool 152, the attachment pins 146 transmit aforce from the jaws of the universal grasper 118 such that the levers148 of the tool 152 rotate about a fulcrum 151 from a first position toa second position, similar to the actuation of tools detailed above.

During actuation of the tool 152, the actuator 111 of said tool alongwith the attachment pin channels 147, constrain the attachment pins 146within said channels. When the universal grasper 118 is coupled to thelevers 148 of the tool 152, via the connection detailed above, in orderto disengage the attachment pins 146 from the attachment pin channels147, the tool 152 and the levers 148 of said tool must be in a closedposition, which results from the jaws of the universal grasper 118applying a force upon the levers 148 via the attachment pins 146. Withthe tool 152 and levers 148 of said tool in a closed position, the tool152 is constrained in the closed position by clamping down on the distalend of said tool. In some embodiments, the introducer 126 is utilized toclamp the distal end of the tool 152, while in other embodiments theuniversal grasper 118 of one of the robotic arm 125 is utilized to clampthe tool 152 in a closed position. With the tool 152 clamped in a closedposition, the path of the attachment pin channels 147 is aligned withthe path of rotation of the jaws of the universal grasper 118 such thatas the jaws from the universal grasper 118 move from a closed positiontowards an open position, the attachment pins 146 of the jaws of theuniversal grasper 118 traverse through the attachment pin channels 147and exit said channels, at which point the jaws of the universal grasper118 are in a fully open state.

In alternative embodiments, the above detailed connection is inverted.As depicted in the illustrative embodiment shown in FIG. 57B and FIG.57C, in some embodiments, a tool 158 has a lever 153 which is outfittedwith attachment pins 154. In one embodiment, tool 158 is configured asscissors, while in other embodiments tool 158 can take on a variety ofconfigurations, including but not limited to needle drivers, forceps,grasper, retractor, surgical stapler, vessel sealer, cautery pin, orcaliper.

In some embodiments, the attachment pins 154 are configured to enter andmate with attachment channels 155 located on the jaws of a universalgrasper 218. As depicted in the illustrative embodiment shown in FIGS.59A-59B, in some embodiments attachment channels 155 are located on bothjaws of the universal grasper 218. In some embodiments, the attachmentchannels 155 are located on both the left and right side of both jaws ofthe universal grasper 218. In one embodiment, the attachment channels155 are located on the distal end of the jaws of the universal grasper218, while in other embodiments the attachment channels 155 are locatedon the proximal end of the jaws of the universal grasper 218. Theattachment channels 155 are configured to have a shape compatible to theattachment pins 154 of the lever 153 so as to allow the jaws of theuniversal grasper 218 to mate with the levers 153.

As depicted in the illustrative embodiment shown in FIGS. 57A and 57C,in some embodiments, located on the proximal end of the levers 153 areattachment appendages 157 having an inner surface. FIGS. 58A-58B,depicts a cutaway view of an illustrative embodiment of tool 158,highlighting the location of the attachment pins 154. In theseembodiments, the attachment pins 154 are located on the inner surface ofthe attachment appendages 157. The attachment pins 154 are configured tomate with the attachment channels 155 of the universal grasper 218,forming a coupling between the universal grasper 218 and the levers 153.This mating and coupling sequence is illustrated in FIGS. 60A-60C. Theattachment channels 155 are configured to be curved in shape, with thecurvature of said channels configured to allow the attachment pins 154of the levers 153 to enter the channels when the tool 158 is in a closedstate, and retain the attachment pins 154 when the tool 158 is actuated.In addition, in some embodiments, located on the inner surface of levers153 are actuation channels 112 (FIG. 58A), which are configured to housethe actuator (not shown) of the tool 158. As detailed above, theactuator can be any mechanical actuation component or combination ofcomponents known in the art, such as a torsion spring, a leaf spring, acable or other mechanical actuation component or combination ofcomponents known in the art capable of actuating a tool and/orinstrument. The actuator allows the jaws of the universal grasper 218 tointeract with the levers 153 of the tool 158, resulting in said toolbeing capable of being manipulated to multiple positions, such as from afirst position to a second position, with said positions including butnot limited to an open and/or closed position. The actuator is operablyconnected to both levers 153 of the tool 158, with said actuator sitingwithin the actuation channels 112 of both levers 153. Additionally, theactuator is configured to apply a force upon the attachment appendages157 of levers 153 such that attachment pins 154 of the levers 153 areretained in the attachment channels 155 of the jaws of universal grasper218 as levers 153 and the jaws of universal grasper 218 move towards anopen position. In these embodiments, as the jaws of universal grasper218 initially move from a partially closed position towards an openposition, actuator 111 applies a force upon levers 153 causing theattachment pins 154 to maintain contact with the attachment channels 155of the jaws of universal grasper 218. As the levers 153 move towards anopen position, the attachment appendages 157 and the attachment pins 154operably connected to said appendages rotate with the levers 153, whilethe jaws of universal grasper 218 rotate about a separate path. Thediversion between the path defined by the attachment pins 154 of levers153 and the path of rotation of the jaws of universal grasper 218, issuch that, the attachment pins 154 of levers 153 are retained in theattachment channels 155 of the jaws of universal grasper 218. Thisactuation sequence is shown in FIGS. 61A-61C.

Similar to the coupling detailed above, in order for the attachment pins154 of levers 153 to mate and enter their respective attachment pinchannels 155 on the jaws of universal grasper 218, the tool 158 and thelevers 153 of said tool must be in a closed position, as depicted inFIG. 57A. As depicted by the sequence shown in FIGS. 60A-60C, with thelevers 153 in a closed position, as the jaws of universal grasper 218move from an open position towards a closed position, the attachmentpins 154 (not shown in FIGS. 60A-60C) of levers will enter attachmentchannels 155 on the jaws of universal grasper 218, until said pins 154reach the end of the channels 155, at which point the jaws of universalgrasper 218 are coupled to tool 158. As shown in FIG. 60C, once theattachment pins 154 (not shown in FIG. 60C) have reached the end oftheir respective attachment channel 155, there is a degree of separationbetween the jaws of universal grasper 218, this separation ensures thatsaid pins 154 constantly apply a force upon said channels 155 so saidpins 154 are retained in their respective channel 155.

During actuation of tool 158, the jaws of universal grasper 218 transmita force upon the attachment pins 154 of levers 153, such that saidlevers rotate about a fulcrum from one position to another. As tool 158is actuated from one position to another, the actuator 111 of said toolalong with the attachment pin channels 155, constrain the attachmentpins 154 within said channels. In order to disengage the attachment pins154 from the attachment pin channels 155, tool 158 and the levers 153 ofsaid tool must be in a closed position, which results from the jaws ofthe universal grasper 218 applying a force upon levers 153 via theattachment pins 154. With tool 158 and levers 153 of said tool in aclosed position, tool 158 is constrained in a closed position byclamping down on the distal end of said tool. In some embodiments, theintroducer 126 is utilized to clamp the distal end of the tool 152 in aclosed position, while in other embodiments the universal grasper of oneof the robotic arm 125 is utilized or other methods detailed below areused to clamp the tool 158 in a closed position. With the tool 158clamped in a closed position, the path of the attachment pin channels155 is aligned with the path of rotation of the jaws of the universalgrasper 218 such that as the jaws of universal grasper 218 move from aclosed position towards an open position, the attachment pins 154 of thelevers 153 traverse through the attachment channels 155 of the jaws ofthe universal grasper 218 and exit said channels, at which point thejaws of the universal grasper 218 are in a fully open state.

In some embodiments, the surgeon can elect to set a maximum openinglimit of the universal grasper jaws while a tool is attached. In theseembodiments, a surgeon can lock a tool in a specific orientation for anextended period of time and also limit the actuation range of motion ofa tool for an extended period of time. Limiting the actuation range ofmotion of a tool, allows a surgeon to more precisely perform a surgicalfunction in tight quarters, as well as allows a surgeon to electactuation boundaries for the tool such that the surgeon is unable tomove and/or actuate a tool past a desired position. Furthermore, settingmaximum open limits of the universal grasper jaws allows a tool to beattached for an extended period of time until a surgeon is ready todisengage the tool. In these embodiments, maximum opening limits of theuniversal grasper jaws are obtained via various software commands andapplications, which at a surgeon's election can be initiated and turnedoff.

In order for a surgeon to switch between different tools, he or she mustfirst disengage the tool that is attached to a universal grasper. In oneembodiment, an introducer 126 is used to disengage a tool or instrument,as well as to attach a new tool or instrument to a universal grasper.FIG. 27A depicts one embodiment of an introducer 126. In one embodiment,the introducer may be inserted and removed from a patient's body througha trocar. In some embodiments, the introducer is inserted through thesame trocar and incision point as the robotic device. In otherembodiments, the introducer is inserted through a separate trocar at adifferent incision point.

In one embodiment, the introducer contains an introducer handle 126,which is connected to the introducer shaft 128 with a tool engagementmechanism 129 located at the end of the shaft distal to the introducerhandle 126 (FIG. 27A). In one embodiment, the introducer shaft 128 is arigid shaft. In other embodiments, the introducer shaft 128 contains aflexible portion making it capable of flexing and bending, thus allowingthe introducer 126 to be maneuvered to a specific position andorientation when inserted in the patient's body.

In one embodiment, the tool engagement mechanism 129 is fabricated asone piece having two sides with an opening between the sides so to allowa tool to be engaged and disengaged. FIG. 30 shows one embodiment of thetool engagement mechanism 129. In other embodiments, the tool engagementmechanism 129 is fabricated as two pieces that are connected to oneanother via a welded connection, adhesive connection and/or any otherconnection known in the art. In some embodiments, the tool engagementmechanism 129 is fabricated out of biocompatible materials known in theart, including but not limited to biocompatible metals, biocompatibleplastics and/or biocompatible ceramics.

In an alternative embodiment, the tool engagement mechanism 129 containstwo sides that are mechanically coupled to each other so that the sidesof the tool engagement mechanism 129 expand and contract in unison,creating a clamping motion. In these embodiments, no engagement tip 130is found. In some embodiments, the sides of the tool engagementmechanism 129 are coupled to each other via linkage members, whichcouple to two linkage members that are coupled to the actuation rod 131,creating a four-bar linkage mechanism. In these embodiments, as theactuation rod 131 traverses distally, the sides of the tool engagementmechanism 129 spread apart creating an opening for a tool to beattached. When the actuation rod 131 traverses proximally in theintroducer shaft 128 the sides of the tool engagement mechanism 129 movecloser to each other creating a clamping motion, thus retaining saidtool. In some embodiments, the linkage members are coupled to each othervia pins. In other embodiments, the linkage members are coupled to eachother via any standard attachment method known to those in the fieldsuch as a press-fit, rod and bolt, or any other existing attachmentmethod. In some embodiments, the linkage members are replaced withpulleys and cables. In other embodiments one side of the tool engagementmechanism 129 is static with the other side of the tool engagementmechanism 129 being actuated to create a clamping motion. In furtherembodiments both sides of the engagement mechanism 129 moveindependently of each other.

As stated above, in one embodiment the introducer shaft 128 is rigid. Inthis embodiment located at the proximal end of the introducer handle 127is an actuation button 132, which contains a spring. FIG. 29 shows a cutaway view of one embodiment of the introducer handle 127 highlightingone embodiment of the actuation button 132. The spring is coupled to anactuation rod 131 that is contained inside the introducer shaft 128. Asseen in FIG. 28, in some embodiments the actuation rod 131 runs from theactuation button 132 through the introducer shaft 128 to the distal endof the shaft where it couples to the tool engagement mechanism 129.

In some embodiments, located at the distal end of the introducer shaft128 but proximal to the tool engagement mechanism 129 is an engagementtip 130, with the interior of the engagement tip 130 being tapered. FIG.31 shows a cut away view of one embodiment of the engagement tip 130.When the actuation button 132 is depressed, a force is applied to thespring causing the spring to compress and exert a force on the actuationrod 131. The force exerted on the actuation rod 131 results in theactuation rod 131 traversing distally down the introducer shaft 128causing the tool engagement mechanism 129 to extrude from the engagementtip 131, thus allowing the sides of the tool engagement mechanism 129 toseparate creating a greater opening to allow a tool to engage and/ordisengage from the tool engagement mechanism 129. FIG. 27B depicts oneembodiment of an introducer prior to attachment to a tool. FIG. 27Cdepicts one embodiment of an introducer after a tool has been attached.

When the actuation button 132 is released, the spring decompressesresulting in the actuation rod 131 traversing proximally up theintroducer shaft 128, which results in the proximal end of the toolengagement mechanism 129 to return inside the engagement tip 130. As thetool engagement mechanism 129 returns back inside the engagement tip130, a force is applied on the sides of the tool engagement mechanism129 due to the tapered interior of the engagement tip 130. The forceapplied on the sides of the tool engagement mechanism 129 causes thetool engagement mechanism 129 to close and clamp around a tool, thusretaining said tool. FIG. 27C depicts an embodiment of an introducer 126after a tool has been attached.

In alternative embodiments, the introducer shaft 128 contains a flexibleportion that is located distal to the introducer handle 127 but proximalto the engagement tip 130. In these embodiments, a surgeon is able toactively flex and position the distal end of the introducer shaft 128 toallow for ease of interchanging a tool. In some embodiments tensioncables are routed through lumens located on the interior of theintroducer shaft 128, which couple to the distal end of the flexibleportion of the introducer shaft 128. In other embodiments, tensioncables are routed through lumens located on the exterior of theintroducer shaft 128. In these embodiments, the tension cables arecoupled to a tension mechanism that tension the tension cables causingthe flexible portion of the introducer shaft 128 to flex and bend. Insome embodiments, multiple tension cables are used to allow the surgeonto flex and bend the distal end of the introducer shaft 128 in numerousdirections and positions. A variety of tension mechanisms can be used indifferent embodiments, including but not limited to pulleys, ratchets,capstans, gear trains, motors and/or other tensioning methods andcombination of tensioning methods known in the field. In someembodiments, the tensioning mechanism has a locking system that allows asurgeon to keep the cables tensioned for an extended period of time. Thelocking system allows the surgeon to keep the introducer shaft 128flexed in a desired position and orientation for an extended period oftime.

In other embodiments only one tension cable is used to flex the distalend of the introducer shaft 128. In this embodiment, the introducerhandle 127 contains a wheel, which is coupled to the introducer shaft128 that allows the entire shaft to rotate when the surgeon rotates thewheel. This embodiment allows the surgeon to maneuver and position thetool engagement mechanism 129 to a desired orientation and location.

In some embodiments, the flexible portion of the introducer shaft 128 isconstructed out of a flexible conduit. In these embodiments, theflexible conduit is fabricated out of biocompatible materials known inthe art, including but not limited to biocompatible metals,biocompatible plastics, and/or biocompatible ceramics. The biocompatiblematerials are configured so as to allow the introducer shaft 128 to flexand bend and also return to its initial configuration.

In one embodiment, the tool engagement mechanism 129 is configured tofit around the distal end of a tool and clamp onto the tool hull 100 ofa tool or instrument, thus rigidly affixing the tool hull 100 to theintroducer 126 as depicted in the illustrative embodiment shown in FIG.27D. FIG. 27E depicts an enlarged side cutaway view of an illustrativeembodiment of a tool introducer, with the tool engagement mechanism 129clamped around the tool hull 100 of a tool. In other embodiments, thetool engagement mechanism 129 is configured to fit around the componentsof a tool, clamping the tool in a closed state.

In an embodiment where a tool engagement mechanism 129 is firmly clampedon a tool hull 100, the surgeon moves the universal grasper jaws into afully open state. As the universal grasper jaws move towards a fullyopen state, the TAPs 102 are released from the tool attachment pinchannels 113. With the TAPs 102 no longer in the tool attachment pinchannels 113, the tool hull 100 is only attached to the universalgrasper 118 via the docking tabs 102. In order to remove the dockingtabs 103 from the docking stations 115 the surgeon either pulls theintroducer 126 away from the universal grasper 118, or maneuvers theuniversal grasper 118 away from the tool hull 100, thus separating thedocking tabs 103 from the docking stations 115. With the tool disengagedfrom the universal grasper, the introducer 126 is removed from patient'sbody through the trocar. The surgeon is then free to remove the toolfrom the introducer 126, attach a new tool to the introducer 126 andinsert the introducer 126 back in to the patient's body, thus allowingthe universal grasper 118 to mate with the new tool. In otherembodiments, the tool engagement mechanism 129 may fashion to a tool viaany standard attachment method known to those in the field such asmagnet connection, press-fit or any other existing attachmenttechniques.

In an alternative embodiment, a tool rack is inserted into the patient'sbody and used to store and hold tools when not in use. The tool rack isinserted into the patient through a trocar and temporarily attached tothe interior body cavity of the patient by means of support. The supportmay be string, pins, adhesive, magnets or any other appropriateattachment means known in the field.

In a different embodiment, the tool rack may be externally supported. Inone embodiment, the tool rack may contain a support shaft, which isaffixed to the tool rack. The tool rack will be inserted in to thepatient's body through a trocar, with the support shaft traversingthrough the trocar outside the patient's body where it is attached to arigid structure. The support shaft can have a variety of shapes andsizes, which allow it to traverse through a trocar. In differentembodiments, the support shaft may be substituted for a cable or wire,thus allowing it traverse through narrower spaces.

In an alternative embodiment, the tool rack may be magnetized allowingit to be externally supported via magnets situated outside of apatient's body. In this embodiment, the tool rack will be constructed ofa biocompatible magnetic material, and will couple with magnets locatedoutside of the patient's body and firmly pressed against a cavity wall,thus giving the appearance of a free-floating structure. In someembodiments, the tool rack will also contain a detachable support shaftfor insertion and removal from the body.

In one embodiment, the tool rack is constructed as one row with means tohold a plurality of tools. Appropriate means may include magnets,clamps, clips or any other appropriate attachment means known in thefield. In one embodiment, the tool rack contains storage slots for eachindividual tool. The storage slots contain a coupling mechanism thatcouples with a tool, allowing the tool to disengage from a universalgrasper. Additionally, the coupling mechanism also allows for auniversal grasper to engage a tool that is held in a storage slot. Thisallows a surgeon to interchange between a suite of tools with ease, asthe surgeon can store and dock idle tools on the rack when not in useand engage a new tool from the rack at his or her convenience.

In a different embodiment, the tool rack is constructed as a set of rowsattached to each other. The rows are collapsible to allow the rack tofit through a trocar. The rows are equipped with means to hold aplurality of tools. Appropriate means may include magnets, clamps, clipsor any other appropriate attachment means known in the field. Inaddition, in an alternative embodiment, the rows may be equipped withstorage slots containing a coupling mechanism that allows a tool toengage and disengage from the storage slot. In some embodiments, thetool rack is configured to be able to fit through the same trocar as therobotic device. In alternative embodiments, the tool rack may beinserted through a separate trocar.

Additionally, in some embodiments the tool rack may be outfitted with anirrigation system that allows for the removal of body tissue or anymaterial that may inhibit a tool from disengaging or engaging with auniversal grasper. The irrigation system would release an appropriateamount of water to remove any particles or materials at a surgeon'scommand. In an alternative embodiment, a brush or other tool withbristles would be attached to a tool rack, which would allow a surgeonto remove any unwanted particles or materials from the device. Othermeans and methods may be utilized to clean a tool or instrument, such asremoving the tool from the patient's body with an introducer andmanually cleaning the tool or instrument, or other known practices inthe field including but not limited to, using a suction system.

In addition, in one embodiment, one of the robotic arms can be outfittedwith a brush tool or other refuse removal tool or instrument. In thisembodiment, the surgeon uses one robotic arm to clean the other. Thesurgeon maneuvers a robotic arm equipped with a brush tool or otherrefuse removal tool or instrument to a position and orientation thatallows the surgeon to expel any materials that may interfere with theuse, engagement or disengagement of a tool. Additionally, thisembodiment also allows a surgeon to expel any materials or items thatmay be entangled or captured in the docking system of a tool rack.

In other embodiments, a disengagement tool 144 is attached to auniversal grasper to engage and disengage tools. FIG. 49A-FIG. 49D showmultiple views of an illustrative embodiment of a disengagement tool144. In these embodiments, a surgeon utilizes the disengagement tool144, which operably couples to the universal grasper 118 of one of therobotic arms to disengage a tool from the other robotic arm. In theseembodiments, the disengagement tool 144 couples to the universal grasper118 utilizing the same technique detailed above for attaching a tool tothe universal grasper 118. In one embodiment, the disengagement tool 144has two clamping members 145 configured to fit around the instrumentcomponents of a tool 124. FIG. 51A depicts an illustrative embodiment ofa disengagement tool 144 with the clamping members 145 in an openposition prior to clamping around the instrument components of a tool124. FIG. 51B depicts an illustrative embodiment of a disengagement tool144 with the clamping members 145 clamped around the instrumentcomponents of a tool 124. In this embodiment, the disengagement tool 144is fabricated as a jaw containing two clamping members 145 configured tofit around the instrument components of a tool 124, and clamp aroundsaid components in order to inhibit the components from being actuated,while simultaneously holding the tool 124 in place, thus allowing theuniversal grasper 118 to disengage from the tool 124. FIG. 50A depictsan illustrative embodiment of a disengagement tool 144 coupled to auniversal grasper 118, with the clamping members 145 in an open stateprior to clamping around the instrument components of a tool 124. FIG.50B depicts an illustrative embodiment of a disengagement tool 144coupled to a universal grasper 118, with the clamping members 145clamped around the instrument components of a tool 124. In oneembodiment, each of the clamping members are affixed to a tool actuationlever 109, which mate and ride along the actuation mating surfaces 114of the jaw of the universal grasper 118, allowing the universal grasper118 to actuate the disengagement tool in the same manner detailed abovefor tools containing two actuation levers 109. In some embodiments, theclamping members 145 are operably coupled to one another to allow forboth clamping members 145 to move in unison. This coupling is fashionedvia any standard connection method know to those in the field such as alinkage coupling, cables, welded connection, or any other existingcoupling techniques known. In other embodiments, the clamping members145 are configured to be independently movable, allowing the clampingmembers 145 to be orientated in different positions in order to clamparound tools with various shapes and/or sizes. In alternativeembodiments, one of the clamping members 145 is rigidly fixed, with theother clamping member configured to move and clamp around the instrumentcomponents of a tool. In addition, the clamping members 145 of thedisengagement tool 144 can take on a variety of shapes, and sizes indifferent embodiments, permitting the disengagement tool 144 tofacilitate with the disengagement of tools having instrument componentswith various shapes and sizes. Additionally, in some embodiments theclamping members 145 are configured to clamp around the side of theinstrument components of the tool 124, such as depicted in theillustrative embodiment shown in FIG. 50A and FIG. 50B. In alternativeembodiments, the clamping members 145 are configured to clamp around thefront of the instrument components of the tool 124.

In other embodiments, the clamping members 145 of the disengagement tool144 are configured to fit around the tool hull 100 of a tool 124. Inthese embodiments, the clamping members 145 clamp around a tool hull 100of a tool 124, constraining the tool hull 100 from moving, and thusallowing the tool 124 to be disengaged from the universal grasper 118.In addition to disengaging tools, the disengagement tool 144 can also beutilized to attach a tool 124 to a universal grasper 118 so that saidtool can be utilized.

In an alternative embodiment, the jaws or jaw portions of a universalgrasper are configured to disengage and/or engage a tool and/orinstrument. In this embodiment, a surgeon uses the universal grasper ofone robotic arm to disengage a tool attached to the universal grasper ofthe other robotic arm. In this embodiment, the tool is disengaged from auniversal grasper utilizing the same technique detailed above. In oneembodiment, the jaws of the universal grasper are configured to fit andclamp around a tool hull 100 of a tool and/or instrument, thusconstraining the tool hull 100 from moving, allowing said tool to bedisengaged. In another embodiment, the jaws of the universal grasper areconfigured to fit around and clamp the components of a tool, thusconstraining the tool from being actuated, and allowing said tool to bedisengaged.

Tools—Different Tools

As mentioned above, a surgeon uses a variety of different tools duringan operation. In order for a surgeon to have the capacity necessaryperform a vast range of different types of surgery, a multitude of toolsis required. The Virtual Reality Tool System has satisfied this need bydeveloping a suite of tools that can be utilized with the VirtualReality Surgical Device. A suite of tools can contain a wide range oftools that a surgeon can customize and switch out based on the type oftools needed to perform a specific operation. A suite of tools canconsist of static tools, actuated tools, electrified tools and/or acombination of all three. The tools can be configured in variety ofsizes, thus allowing the tools to be inserted through different sizedtrocars.

Static tools are tools, which contain no moving components and areinstead rigidly fixed to a tool hull or housing 100. An example of somestatic tools that could be found in a tool suite, include but are notlimited to, cautery hooks, scalpels, cautery pens, surgical probes,and/or biopsy punches. Actuated tools are tools that contain movingcomponents actuated lever(s) and actuator(s). Some examples of actuatedtools that may be found in a tool suite, include but are not limited tosurgical scissors, needle drivers, forceps, graspers, retractors,staplers, vessel sealers, surgical drills and/or calipers. Electrifiedtools are tools that contain electrical current, such as a cauterygrasper, or tools that are electrically actuated such as a drill.

FIG. 20 shows a top view of a scissor tool according to one embodiment.During an operation a surgeon may utilize a variety of types of scissorsto perform different operation tasks, such as cutting, and/or suturing.The scissor tool contains two blades 122 as depicted in the exemplaryembodiment shown in FIG. 19A. In one embodiment, each blade 122 isaffixed to a tool actuation lever 109 (FIG. 19B) and is capable of beingactuated. FIG. 17A and FIG. 17B show side views of one embodiment of ascissor tool with its blades 122 in an open state. FIG. 17B shows a sidecutaway view of one embodiment of a scissor tool, illustrating theposition of the tool actuation levers 109 when blades 122 are in an openstate. FIG. 18A and FIG. 18B show side views of one embodiment of ascissor tool with its blades 122 in a closed state. FIG. 18B illustratesthe position of the tool actuation levers 109 when the scissor blades122 are in a closed state.

In one embodiment, the blades 122 can be actuated in unison and in otherembodiments the blades 122 can be actuated independently of each other.In an alternative embodiment, only one blade 122 may be affixed to atool actuation lever 109 allowing that blade 122 to be actuated and withthe other blade 122 being rigidly affixed to the tool hull 100.

In one embodiment, the blades 122 are constructed with a beveled edge.The angle of the bevel may vary in embodiments, with a lower bevel angleproviding the surgeon with a sharper edge for more precise incisions anda larger bevel angle providing the surgeon with a more durable edge forlarger incisions. Additionally, in other embodiments a scissor tool isconstructed to configure different types of surgical scissors includingbut not limited to iris scissors, blunt-sharp scissors, suture scissors,corneal scissors, or any other type of scissor known or used in themedical field.

FIG. 24 and FIG. 25 show isometric views of a needle driver toolaccording to one embodiment. In one embodiment, a needle driver toolcontains two needle driver-clamping jaws 120 as depicted in theexemplary embodiment shown in FIG. 22A and FIG. 22B. In some embodimentslocated on each engaging surface of the needle driver-clamping jaws 120are textured surfaces 121 (FIG. 24). The textured surfaces 121 areconfigured to allow a surgeon to engage a tiny needle or multipleneedles without the needle or needles experiencing any movement duringutilization. FIG. 23A and FIG. 23B shows one embodiment of the needledriver-clamping jaws in a closed position, with FIG. 23A depicting thestate of the tool actuation levers 109 when the jaws are in a closedstate. Essentially, the textured surfaces 121 make it easier for asurgeon to grip and maneuver needles during an operation. In differentembodiments textured surfaces 121 are configured to accommodate avariety of needle shapes and sizes. The textured surfaces 121 can takeon numerous configurations such as a knurled surface, crosshatch surfaceor any other type of surface known to those in the field. The needledriver-clamping jaws 120 are configured in such a way to allow thetextured surfaces 121 to align and couple with each other duringactuation, thus allowing a needle to be grasped and constrained by thejaws.

In one embodiment, each needle driver-clamping jaw 120 is affixed to atool actuation lever 109 as depicted in the exemplary embodiment shownin FIG. 26A and FIG. 26B. In this embodiment, each jaw can be actuatedin unison. In a different embodiment, each jaw may be actuatedindependently of the other one. In an alternative embodiment, only oneneedle driver-clamping jaw 120 may be affixed to a tool actuation lever109 allowing that jaw to be actuated, with the other jaw being rigidlyaffixed to a tool hull 100.

Additionally, in different embodiments tools can take on a variety ofconfigurations, with some embodiments of tools having tool hulls, whileother embodiments of tools may comprise levers with attachmentappendages, as detailed above.

1. A system comprising: a. a grasper comprising: i. a grasper housing having a distal end and a proximal end, the grasper housing defining a docking opening at the distal end, the docking opening having a shape, and ii. a jaw at the distal end of the grasper housing, the jaw including a first jaw portion and a second jaw portion, the first and second jaw portions being movably opposed, at least one of the first and second jaw portions comprises at least one actuation mating surface; b. a tool comprising: i. a tool housing having a distal end and a proximal end and defining an inner surface, ii. a docking assembly defined by the tool housing at the proximal end of the tool housing, the docking assembly comprising a first protrusion extending proximally from the proximal end of the tool housing and having a first protrusion shape complementary to the shape of the docking opening, and iii. an operative assembly at the distal end of the tool housing, the operative assembly comprising:
 1. a fulcrum operably coupled to the tool housing,
 2. a first lever operably connected to the fulcrum,
 3. an instrument operably coupled to the first lever, and
 4. an actuator operably coupled to the tool housing and the first lever; and c. a robotic device operably coupled to the proximal end of the grasper and configured to actuate the first and second jaw portions of the grasper between a first jaw position and a second jaw position.
 2. The device of claim 1, wherein the first protrusion of the docking assembly of the tool is configured to cooperate with the docking opening of the grasper housing to constrain the tool in all axes relative to the grasper.
 3. The device of claim 1, wherein the first lever comprises a proximal end configured to ride along the at least one actuation mating surface of one of the first or second jaw portions of the grasper.
 4. The device of claim 1, wherein, when the tool is coupled to the grasper, at least one of the first and second jaw portions of the grasper is configured to apply a force on the first lever to rotate the first lever about the fulcrum from a first lever position to a second lever position.
 5. The device of claim 4, wherein the actuator is configured to retain an energy from the force applied by the at least one of the first and second jaw portions.
 6. The device of claim 5, wherein the actuator is configured to release the energy retained by said actuator as a force upon the at least one lever to rotate the at least one lever about the fulcrum from the second lever position to the first lever position.
 7. The device of claim 1, wherein the actuator is configured to apply a force upon the first lever to bias the first lever in a first direction.
 8. The device of claim 1, wherein the first jaw portion is fixed relative to the grasper housing and the second jaw portion is movable relative to the first jaw portion.
 9. The device of claim 1, wherein the tool housing comprises a plurality of tool housing segments, wherein the plurality of tool housing segments define a tool housing interior, and wherein the plurality of tool housing segments are coupled by at least one support.
 10. The device of claim 9, wherein the actuator operably coupled to the tool housing is operably coupled to the interior of one of the plurality of tool housing segments.
 11. The device of claim 1, wherein at least one of the first and second jaw portions defines a channel having a channel shape and the docking assembly further comprises a second protrusion extending from the inner surface of the tool housing that has a second protrusion shape complementary to the channel shape.
 12. The device of claim 11, wherein the first protrusion of the docking assembly is configured to cooperate with the docking opening of the grasper housing and the second protrusion of the docking assembly is configured to cooperate with the channel of the at least one of the first and second jaw portions of the grasper to constrain the tool in all axes relative to the grasper.
 13. The device of claim 1, wherein the first and second jaw portions are independently movable.
 14. The device of claim 1, wherein the first jaw portion comprises: a. an electrically conductive contact portion at a distal end of the jaw portion, and b. an electrical conductor coupled to the conductive contact portion; c. wherein the first jaw portion is electrically insulated.
 15. The device of claim 1, wherein the first and second jaw portions are electrically conductive and the first jaw portion is coupled to a first electrical conductor and the second jaw portion is coupled to a second electrical conductor, wherein the system further comprises a power supply coupled to the first and second electrical conductors for supplying electrical power to the first and second jaw portions and wherein the first and second jaw portions are electrically insulated.
 16. The device of claim 1, the operative assembly of the tool further comprising a second lever operably coupled to the fulcrum, a second instrument operably coupled to the second lever, and wherein the first and second levers each comprise a proximal end and the first and second jaw portions of the grasper each comprise at least one actuation mating surface.
 17. The device of claim 16, wherein the proximal end of the first lever is configured to ride along the at least one actuation mating surface of the first jaw portion and the proximal end of the second lever is configured to ride along the at least one actuation mating surface of the second jaw portion.
 18. The device of claim 16, wherein the first and second levers are configured to move independently of one another.
 19. The device of claim 16, the operative assembly of the tool further comprising a second actuator operably coupled to the tool housing and the second lever.
 20. The device of claim 1, wherein the instrument of the operative assembly is one of surgical scissors, needle driver, forceps, grasper, retractor, surgical stapler, vessel sealer, surgical drill, cautery pen, cautery hook or caliper.
 21. The device of claim 1, wherein the instrument comprises a first component and a second component, wherein the first component is operably coupled to the first lever and the second component is operably coupled to a second lever.
 22. The device of claim 1, wherein the first jaw portion of the grasper further comprises a force-open channel having a force-open channel shape and wherein the first lever of the tool further comprises a proximal end comprising a projection having a projection shape complementary to the force-open channel.
 23. The device of claim 22, wherein, when the tool couples to the grasper, the projection of the first lever is configured to cooperate with the force-open channel of the first jaw portion of the grasper to allow the projection to pass through the force-open channel and maintain a clearance over the first jaw portion.
 24. The device of claim 23, wherein, the first jaw portion of the grasper is configured to apply a force upon the projection of the first lever as the first jaw portion moves from the second jaw position to the first jaw position to rotate the first lever about the fulcrum from a second lever position to a first lever position.
 25. The device of claim 1, wherein the first jaw portion of the grasper further comprises a first force-open channel having a first force-open channel shape and the first lever of the operative assembly of the tool further comprises a proximal end with a first projection having a first projection shape complementary to the first force-open channel of the first jaw portion and wherein the second jaw portion of the grasper further comprises a second force-open channel having a second force-open channel shape and the operative assembly of the tool further comprises a second lever having a second instrument and a proximal end having a second projection having a second projection shape complimentary to the second force-open channel of the second jaw portion.
 26. The device of claim 1, wherein the grasper housing further defines a plurality of docking openings, each of the plurality of docking opening having a shape, and wherein the docking assembly of the tool further comprises a plurality of first protrusions extending proximally from the proximal end of the tool housing and each of the plurality of first protrusions having a corresponding shape complementary to the shape of one of the plurality of docking openings, and wherein the plurality of first protrusions of the docking assembly of the tool are configured to cooperate with the plurality of docking openings of the grasper housing to constrain the tool in all axes relative to the grasper.
 27. The device of claim 1, wherein the first jaw portion defines a plurality of channels, each of the plurality of channels having a channel shape and the second jaw portion defines a plurality of channels, each of the plurality of channels having a channel shape, and wherein the docking assembly of the tool further comprises a plurality of second protrusions extending from the inner surface of the tool housing, each of the plurality of second protrusions having a corresponding second protrusion shape complementary to the channel shape of the plurality of channels of the first jaw portion and the channel shape of the plurality of channels of the second jaw portion.
 28. The device of claim 1, wherein the first protrusion of the docking assembly of the tool comprises a first magnetic contact having a first magnetic contact shape and the docking opening of the grasper housing comprises a second magnetic contact having a second magnetic contact shape complementary to the first magnetic contact of the first protrusion, wherein the first magnetic contact of the first protrusion of the docking assembly of the tool is configured to cooperate with the second magnetic contact of the docking opening of the grasper to constrain the tool in all axes relative to the grasper. 